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feat(agv): 添加AGV移动到指定站点功能和设备通用指令支持

Browse Source 
- 新增 AGV_MOVE_TO_STATION 操作类型用于移动到指定站点
- 添加 DEVICE_EXECUTE_JSON_COMMAND 类型用于执行设备通用指令
- 移除独立的 agv.proto 文件并将相关内容合并到 agv_utils.proto
- 更新 AGV 命令协议导入路径指向新的工具协议文件
- 优化 AGV 运动选项注释说明同步阻塞行为默认设置
- 为路径导航命令添加执行选项参数支持
- 新增臂式机器人远程操作服务协议定义
- 实现臂式机器人远程操作服务的gRPC接口代码
This commit is contained in:
lixiaolong 2026-08-04 09:22:04 +08:00
parent e62f445013
commit c8b2c39d74
103 changed files with 52025 additions and 9527 deletions
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71
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java
View File

@ -1,6 +1,6 @@
package com.cmvr.web.controller.api;
import cmvr.msgs.Agv;
import cmvr.msgs.AgvUtils;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO;
@ -12,12 +12,14 @@ import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
import com.cmvr.edge.client.service.EdgeAgvService;
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;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
import java.util.ArrayList;
@ -48,8 +50,13 @@ public class EdgeAgvController {
*/
@ApiOperation("获取AGV运行时状态")
@GetMapping("/getRuntimeState")
public AjaxResult getRuntimeState(@Validated EdgeCommonVO vo) {
Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
public AjaxResult getRuntimeState(
@ApiParam(value = "终端设备ID", required = true)
@RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
return AjaxResult.ok(toRuntimeStateMap(state));
}
@ -58,8 +65,13 @@ public class EdgeAgvController {
*/
@ApiOperation("获取导航状态")
@GetMapping("/getNavigationStatus")
public AjaxResult getNavigationStatus(@Validated EdgeCommonVO vo) {
Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
public AjaxResult getNavigationStatus(
@ApiParam(value = "终端设备ID", required = true)
@RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
Map<String, Object> resultMap = new HashMap<>();
resultMap.put("state", status.getState());
resultMap.put("type", status.getType());
@ -94,7 +106,7 @@ public class EdgeAgvController {
@ApiOperation("导航到指定位置")
@PostMapping("/navigateToPose")
public AjaxResult navigateToPose(@RequestBody @Validated EdgeAgvNavigateToPoseVO vo) {
Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
.setX(vo.getX())
.setY(vo.getY())
.setTheta(vo.getTheta())
@ -149,7 +161,7 @@ public class EdgeAgvController {
@ApiOperation("设置速度")
@PostMapping("/setVelocity")
public AjaxResult setVelocity(@RequestBody @Validated EdgeAgvVelocityVO vo) {
Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder()
AgvUtils.AgvVelocity velocity = AgvUtils.AgvVelocity.newBuilder()
.setVx(vo.getVx())
.setVy(vo.getVy())
.setWz(vo.getWz())
@ -173,7 +185,12 @@ public class EdgeAgvController {
*/
@ApiOperation("列出所有地图")
@GetMapping("/listMaps")
public AjaxResult listMaps(@Validated EdgeCommonVO vo) {
public AjaxResult listMaps(
@ApiParam(value = "终端设备ID", required = true)
@RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
List<String> maps = edgeAgvService.listMaps(vo);
return AjaxResult.ok(maps);
}
@ -183,10 +200,15 @@ public class EdgeAgvController {
*/
@ApiOperation("列出所有站点")
@GetMapping("/listStations")
public AjaxResult listStations(@Validated EdgeCommonVO vo) {
List<Agv.AgvStation> stations = edgeAgvService.listStations(vo);
public AjaxResult listStations(
@ApiParam(value = "终端设备ID", required = true)
@RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
List<AgvUtils.AgvStation> stations = edgeAgvService.listStations(vo);
List<Map<String, Object>> stationList = new ArrayList<>();
for (Agv.AgvStation station : stations) {
for (AgvUtils.AgvStation station : stations) {
stationList.add(toStationMap(station));
}
return AjaxResult.ok(stationList);
@ -217,7 +239,17 @@ public class EdgeAgvController {
*/
@ApiOperation("下载地图")
@GetMapping("/downloadMap")
public AjaxResult downloadMap(@Validated EdgeAgvMapNameVO vo) {
public AjaxResult downloadMap(
@ApiParam(value = "终端设备ID", required = true)
@RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId,
@ApiParam(value = "地图名称", required = true)
@RequestParam("mapName") String mapName) {
EdgeAgvMapNameVO vo = new EdgeAgvMapNameVO();
vo.setTerminalId(terminalId);
vo.setDeviceId(deviceId);
vo.setMapName(mapName);
String content = edgeAgvService.downloadMap(vo, vo.getMapName());
return AjaxResult.ok(content);
}
@ -228,7 +260,7 @@ public class EdgeAgvController {
@ApiOperation("开始建图")
@PostMapping("/startMapping")
public AjaxResult startMapping(@RequestBody @Validated EdgeAgvStartMappingVO vo) {
Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(vo.getDimension());
AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(vo.getDimension());
if (mapDimension == null) {
return AjaxResult.error("建图维度不合法，允许值：0=未指定，1=2D，2=3D，3=2D+3D");
}
@ -252,7 +284,14 @@ public class EdgeAgvController {
/**
* 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。
*/
private Map<String, Object> toRuntimeStateMap(Agv.AgvRuntimeState state) {
private EdgeCommonVO commonVo(String terminalId, String deviceId) {
EdgeCommonVO vo = new EdgeCommonVO();
vo.setTerminalId(terminalId);
vo.setDeviceId(deviceId);
return vo;
}
private Map<String, Object> toRuntimeStateMap(AgvUtils.AgvRuntimeState state) {
Map<String, Object> resultMap = new HashMap<>();
resultMap.put("timestamp", state.getTimestamp());
resultMap.put("mode", state.getMode());
@ -291,7 +330,7 @@ public class EdgeAgvController {
/**
* 将 protobuf 站点对象转换为普通 Map。
*/
private Map<String, Object> toStationMap(Agv.AgvStation station) {
private Map<String, Object> toStationMap(AgvUtils.AgvStation station) {
Map<String, Object> stationMap = new HashMap<>();
stationMap.put("id", station.getId());
stationMap.put("type", station.getType());
@ -305,7 +344,7 @@ public class EdgeAgvController {
/**
* 将 protobuf 二维位姿转换为普通 Map。
*/
private Map<String, Object> toPoseMap(Agv.AgvPose2d pose) {
private Map<String, Object> toPoseMap(AgvUtils.AgvPose2d pose) {
Map<String, Object> poseMap = new HashMap<>();
poseMap.put("x", pose.getX());
poseMap.put("y", pose.getY());

67
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java
View File

@ -7,12 +7,13 @@ import com.cmvr.edge.client.model.arm.*;
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;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
/**
@ -31,14 +32,20 @@ public class EdgeArmController {
@ApiOperation("关闭力矩")
@GetMapping("/torqueOff")
public AjaxResult torqueOff(EdgeCommonVO vo) {
public AjaxResult torqueOff(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
edgeArmService.torqueOff(vo);
return AjaxResult.ok();
}
@ApiOperation("开启力矩")
@GetMapping("/torqueOn")
public AjaxResult torqueOn(EdgeCommonVO vo) {
public AjaxResult torqueOn(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
edgeArmService.torqueOn(vo);
return AjaxResult.ok();
}
@ -48,7 +55,10 @@ public class EdgeArmController {
*/
@ApiOperation("清除故障")
@GetMapping("/clearFault")
public AjaxResult clearFault(EdgeCommonVO vo) {
public AjaxResult clearFault(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
edgeArmService.clearFault(vo);
return AjaxResult.ok();
}
@ -126,14 +136,20 @@ public class EdgeArmController {
@ApiOperation("停止运动")
@GetMapping("/stopMotion")
public AjaxResult stopMotion(EdgeCommonVO vo) {
public AjaxResult stopMotion(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
edgeArmService.stopMotion(vo);
return AjaxResult.ok();
}
@ApiOperation("获取关节状态")
@GetMapping("/getJointState")
public AjaxResult getJointState(EdgeCommonVO vo) {
public AjaxResult getJointState(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(terminalId, deviceId);
ArmCommand.JointResponse result = edgeArmService.getJointState(vo);
ArmCommand.JointState state = result.getState();
@ -150,7 +166,12 @@ public class EdgeArmController {
@ApiOperation("获取末端位姿")
@GetMapping("/getPose")
public AjaxResult getPose(@Validated EdgeArmPoseQueryVO vo) {
public AjaxResult getPose(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
@ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
@ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink);
ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink());
ArmCommand.CartesianPose pose = result.getPose();
@ -168,14 +189,26 @@ public class EdgeArmController {
@ApiOperation("标定零点")
@GetMapping("/calibrateZeroQ")
public AjaxResult calibrateZeroQ(@Validated EdgeArmCalibrateZeroQVO vo) {
public AjaxResult calibrateZeroQ(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
@ApiParam(value = "关节名称", required = true) @RequestParam("jointName") String jointName) {
EdgeArmCalibrateZeroQVO vo = new EdgeArmCalibrateZeroQVO();
vo.setTerminalId(terminalId);
vo.setDeviceId(deviceId);
vo.setJointName(jointName);
edgeArmService.calibrateZeroQ(vo, vo.getJointName());
return AjaxResult.ok();
}
@ApiOperation("获取位姿矩阵")
@GetMapping("/getPoseMatrix")
public AjaxResult getPoseMatrix(@Validated EdgeArmPoseQueryVO vo) {
public AjaxResult getPoseMatrix(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
@ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
@ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink);
ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink());
// 将TransformMatrix4x4转换为Map
ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
@ -229,4 +262,20 @@ public class EdgeArmController {
matrixMap.put("m33", matrix.getM33());
return AjaxResult.ok(matrixMap);
}
private EdgeCommonVO commonVo(String terminalId, String deviceId) {
EdgeCommonVO vo = new EdgeCommonVO();
vo.setTerminalId(terminalId);
vo.setDeviceId(deviceId);
return vo;
}
private EdgeArmPoseQueryVO poseQueryVo(String terminalId, String deviceId, String baseLink, String eeLink) {
EdgeArmPoseQueryVO vo = new EdgeArmPoseQueryVO();
vo.setTerminalId(terminalId);
vo.setDeviceId(deviceId);
vo.setBaseLink(baseLink);
vo.setEeLink(eeLink);
return vo;
}
}

62
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmTeleopController.java Normal file
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@ -0,0 +1,62 @@
package com.cmvr.web.controller.api;
import com.alibaba.fastjson2.JSON;
import com.cmvr.common.core.controller.BaseController;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO;
import com.cmvr.edge.client.service.EdgeArmTeleopService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
@Api(tags = "Edge - Arm teleoperation")
@RestController
@RequestMapping("/api/edge/armTeleop")
@RequiredArgsConstructor
public class EdgeArmTeleopController extends BaseController {
private final EdgeArmTeleopService edgeArmTeleopService;
@ApiOperation("Open an arm teleoperation session")
@PostMapping("/open")
public AjaxResult open(@RequestBody EdgeArmTeleopOpenVO request) {
return success(edgeArmTeleopService.open(request));
}
@ApiOperation("Send an arm joint setpoint")
@PostMapping("/setpoint")
public AjaxResult setpoint(@RequestBody EdgeArmTeleopSetpointVO request) {
edgeArmTeleopService.sendSetpoint(request);
return success();
}
@ApiOperation("Send a teleoperation heartbeat")
@PostMapping("/heartbeat")
public AjaxResult heartbeat(@RequestBody EdgeArmTeleopHeartbeatVO request) {
edgeArmTeleopService.heartbeat(request);
return success();
}
@ApiOperation("Get the latest teleoperation state")
@GetMapping("/status")
public AjaxResult status(@RequestParam("sessionId") String sessionId) {
Object status = edgeArmTeleopService.getStatus(sessionId);
return success(status == null ? null : JSON.toJSONString(status));
}
@ApiOperation("Stop an arm teleoperation session")
@PostMapping("/stop")
public AjaxResult stop(@RequestBody EdgeArmTeleopStopVO request) {
edgeArmTeleopService.stop(request);
return success();
}
}

106
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java
View File

@ -4,13 +4,24 @@ import com.alibaba.fastjson2.JSON;
import com.cmvr.common.core.controller.BaseController;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
import com.cmvr.edge.client.service.EdgeCameraService;
import com.cmvr.web.service.CameraStreamTicketService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import io.swagger.annotations.ApiParam;
import lombok.RequiredArgsConstructor;
import org.springframework.http.CacheControl;
import org.springframework.http.HttpStatus;
import org.springframework.http.MediaType;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBody;
@Api(tags = "边缘--相机")
@RestController
@ -19,46 +30,127 @@ import org.springframework.web.bind.annotation.RestController;
public class EdgeCameraController extends BaseController {
private final EdgeCameraService edgeCameraService;
private final CameraStreamTicketService cameraStreamTicketService;
@ApiOperation("获取相机状态")
@GetMapping("/status")
public AjaxResult status(EdgeCommonVO edgeCommonVO) {
public AjaxResult status(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO)));
}
@ApiOperation("开启相机")
@GetMapping("/start")
public AjaxResult start(EdgeCommonVO edgeCommonVO) {
public AjaxResult start(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(edgeCameraService.start(edgeCommonVO));
}
@ApiOperation("关闭相机")
@GetMapping("/stop")
public AjaxResult stop(EdgeCommonVO edgeCommonVO) {
public AjaxResult stop(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(edgeCameraService.stop(edgeCommonVO));
}
@ApiOperation("获取图片")
@GetMapping("/getRGBImage")
public AjaxResult getRGBImage(EdgeCommonVO edgeCommonVO) {
public AjaxResult getRGBImage(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(edgeCameraService.getRGBImage(edgeCommonVO));
}
@ApiOperation("Get one depth image")
@GetMapping("/getDepthImage")
public AjaxResult getDepthImage(
@RequestParam("terminalId") String terminalId,
@RequestParam("deviceId") String deviceId) {
return success(edgeCameraService.getDepthImage(commonVo(terminalId, deviceId)));
}
@ApiOperation("Control camera PTZ")
@PostMapping("/controlPtz")
public AjaxResult controlPtz(@RequestBody EdgeCameraPtzVO request) {
return success(edgeCameraService.controlPtz(request));
}
@ApiOperation("Get a short-lived RGB video stream URL")
@GetMapping("/rgb-stream-url")
public AjaxResult rgbStreamUrl(
@RequestParam("terminalId") String terminalId,
@RequestParam("deviceId") String deviceId) {
String ticket = cameraStreamTicketService.issue(terminalId, deviceId);
return success((Object) ("/api/edge/camera/rgb-stream?ticket=" + ticket));
}
@ApiOperation("RGB fragmented MP4 live stream")
@GetMapping(value = "/rgb-stream", produces = "video/mp4")
public ResponseEntity<StreamingResponseBody> rgbStream(@RequestParam("ticket") String ticket) {
CameraStreamTicketService.StreamTarget target = cameraStreamTicketService.consume(ticket);
if (target == null) {
return ResponseEntity.status(HttpStatus.UNAUTHORIZED).build();
}
return videoStreamResponse(target.terminalId(), target.deviceId());
}
@ApiOperation("Public RGB fragmented MP4 live stream")
@GetMapping(value = "/rgb-stream/public", produces = "video/mp4")
public ResponseEntity<StreamingResponseBody> publicRgbStream(
@RequestParam("terminalId") String terminalId,
@RequestParam("deviceId") String deviceId) {
return videoStreamResponse(terminalId, deviceId);
}
private ResponseEntity<StreamingResponseBody> videoStreamResponse(String terminalId, String deviceId) {
StreamingResponseBody body = outputStream -> edgeCameraService.writeRGBVideoStream(
terminalId, deviceId, outputStream);
return ResponseEntity.ok()
.contentType(MediaType.parseMediaType("video/mp4"))
.cacheControl(CacheControl.noStore())
.header("X-Accel-Buffering", "no")
.header("X-Content-Type-Options", "nosniff")
.body(body);
}
@ApiOperation("开始录制视频")
@GetMapping("/startRecording")
public AjaxResult startRecording(EdgeCommonVO edgeCommonVO) {
public AjaxResult startRecording(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(edgeCameraService.startRecording(edgeCommonVO));
}
@ApiOperation("停止录制视频")
@GetMapping("/stopRecording")
public AjaxResult stopRecording(EdgeCommonVO edgeCommonVO) {
public AjaxResult stopRecording(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(edgeCameraService.stopRecording(edgeCommonVO));
}
@ApiOperation("获取图片和视频")
@GetMapping("/getRGBDImages")
public AjaxResult getRGBDImages(EdgeCommonVO edgeCommonVO) {
public AjaxResult getRGBDImages(
@ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
return success(edgeCameraService.getRGBDImages(edgeCommonVO));
}
private EdgeCommonVO commonVo(String terminalId, String deviceId) {
EdgeCommonVO vo = new EdgeCommonVO();
vo.setTerminalId(terminalId);
vo.setDeviceId(deviceId);
return vo;
}
}

114
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMotorController.java Normal file
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@ -0,0 +1,114 @@
package com.cmvr.web.controller.api;
import com.alibaba.fastjson2.JSON;
import com.cmvr.common.core.controller.BaseController;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
import com.cmvr.edge.client.service.EdgeMotorService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
@Api(tags = "Edge - Motor")
@RestController
@RequestMapping("/api/edge/motor")
@RequiredArgsConstructor
public class EdgeMotorController extends BaseController {
private final EdgeMotorService edgeMotorService;
@ApiOperation("Set the current motor position as zero")
@PostMapping("/setZero")
public AjaxResult setZero(@RequestBody EdgeMotorTargetVO request) {
return protobuf(edgeMotorService.setZero(request));
}
@ApiOperation("Move motor to zero")
@PostMapping("/moveToZero")
public AjaxResult moveToZero(@RequestBody EdgeMotorMotionVO request) {
return protobuf(edgeMotorService.moveToZero(request));
}
@ApiOperation("Execute profile position control")
@PostMapping("/profilePosition")
public AjaxResult profilePosition(@RequestBody EdgeMotorMotionVO request) {
return protobuf(edgeMotorService.profilePosition(request));
}
@ApiOperation("Execute profile velocity control")
@PostMapping("/profileVelocity")
public AjaxResult profileVelocity(@RequestBody EdgeMotorMotionVO request) {
return protobuf(edgeMotorService.profileVelocity(request));
}
@ApiOperation("Emergency stop a motor")
@PostMapping("/emergencyStop")
public AjaxResult emergencyStop(@RequestBody EdgeMotorTargetVO request) {
return protobuf(edgeMotorService.emergencyStop(request));
}
@ApiOperation("Get motor status")
@PostMapping("/status")
public AjaxResult status(@RequestBody EdgeMotorTargetVO request) {
return protobuf(edgeMotorService.getStatus(request));
}
@ApiOperation("Enable or disable a motor")
@PostMapping("/enabled")
public AjaxResult enabled(@RequestBody EdgeMotorEnabledVO request) {
return protobuf(edgeMotorService.setEnabled(request));
}
@ApiOperation("Open cyclic position stream")
@PostMapping("/cyclicPosition/open")
public AjaxResult openCyclicPosition(@RequestBody EdgeMotorCyclicOpenVO request) {
return success(edgeMotorService.openCyclicPosition(request));
}
@ApiOperation("Send cyclic position setpoint")
@PostMapping("/cyclicPosition/setpoint")
public AjaxResult cyclicPosition(@RequestBody EdgeMotorCyclicSetpointVO request) {
edgeMotorService.sendCyclicPosition(request);
return success();
}
@ApiOperation("Open cyclic velocity stream")
@PostMapping("/cyclicVelocity/open")
public AjaxResult openCyclicVelocity(@RequestBody EdgeMotorCyclicOpenVO request) {
return success(edgeMotorService.openCyclicVelocity(request));
}
@ApiOperation("Send cyclic velocity setpoint")
@PostMapping("/cyclicVelocity/setpoint")
public AjaxResult cyclicVelocity(@RequestBody EdgeMotorCyclicSetpointVO request) {
edgeMotorService.sendCyclicVelocity(request);
return success();
}
@ApiOperation("Get the latest cyclic stream response")
@GetMapping("/stream/status")
public AjaxResult streamStatus(@RequestParam("sessionId") String sessionId) {
return protobuf(edgeMotorService.getStreamStatus(sessionId));
}
@ApiOperation("Close a cyclic stream")
@PostMapping("/stream/close")
public AjaxResult closeStream(@RequestParam("sessionId") String sessionId) {
edgeMotorService.closeStream(sessionId);
return success();
}
private AjaxResult protobuf(Object value) {
return success(value == null ? null : JSON.toJSONString(value));
}
}

32
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java
View File

@ -1,12 +1,18 @@
package com.cmvr.web.controller.api;
import com.alibaba.fastjson2.JSON;
import com.cmvr.common.core.controller.BaseController;
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.service.EdgeSystemService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
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;
@ -18,9 +24,33 @@ public class EdgeSystemController extends BaseController {
private final EdgeSystemService edgeSystemService;
@ApiOperation("Get edge system information")
@GetMapping("/info")
public AjaxResult info(@RequestParam("terminalId") String terminalId) {
return success(JSON.toJSONString(edgeSystemService.getSystemInfo(terminalId)));
}
@ApiOperation("Get edge system runtime status")
@GetMapping("/status")
public AjaxResult status(@RequestParam("terminalId") String terminalId) {
return success(JSON.toJSONString(edgeSystemService.getSystemStatus(terminalId)));
}
@ApiOperation("Update edge device parameters")
@PostMapping("/params")
public AjaxResult updateParams(@RequestBody EdgeSystemUpdateParamsVO request) {
return success(JSON.toJSONString(edgeSystemService.updateParams(request)));
}
@ApiOperation("Execute a JSON device command")
@PostMapping("/executeJsonCommand")
public AjaxResult executeJsonCommand(@RequestBody EdgeSystemJsonCommandVO request) {
return success(JSON.toJSONString(edgeSystemService.executeJsonCommand(request)));
}
@ApiOperation("停止所有设备")
@GetMapping("/stopAll")
public AjaxResult stopAll(String terminalId) {
public AjaxResult stopAll(@RequestParam("terminalId") String terminalId) {
return AjaxResult.ok(edgeSystemService.stopAll(terminalId));
}
}

4
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
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@ -3,7 +3,7 @@ package com.cmvr.web.controller.inspection;
import java.util.List;
import jakarta.servlet.http.HttpServletResponse;
import cmvr.msgs.Agv;
import cmvr.msgs.AgvUtils;
import com.cmvr.inspection.domain.vo.InspectionRobotVo;
import io.swagger.annotations.*;
import org.springframework.security.access.prepost.PreAuthorize;
@ -180,7 +180,7 @@ public class InspectionRobotController extends BaseController
@GetMapping("/{robotId}/location")
public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
{
Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
AgvUtils.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
return success(location);
}

3
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java
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@ -157,7 +157,8 @@ public class TeFlowController extends BaseController {
@PostMapping("/action")
@ApiOperation(value = "单个节点执行",
notes = "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；"
notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要terminalId、deviceId、requestJson；"
+ "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；"
+ "人工判断节点action=INSPECTION_MANUAL_REVIEW_CREATE，payload使用InspectionManualReviewConfigVO。"
+ "该接口用于试调节点，不会生成正式巡检任务结果")
public AjaxResult actionExecute(

38
cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java Normal file
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@ -0,0 +1,38 @@
package com.cmvr.web.service;
import org.springframework.stereotype.Service;
import java.time.Duration;
import java.util.Map;
import java.util.UUID;
import java.util.concurrent.ConcurrentHashMap;
@Service
public class CameraStreamTicketService {
private static final long TICKET_LIFETIME_MILLIS = Duration.ofSeconds(30).toMillis();
private final Map<String, StreamTarget> tickets = new ConcurrentHashMap<>();
public String issue(String terminalId, String deviceId) {
long now = System.currentTimeMillis();
tickets.entrySet().removeIf(entry -> entry.getValue().expiresAt() < now);
String ticket = UUID.randomUUID().toString().replace("-", "");
tickets.put(ticket, new StreamTarget(terminalId, deviceId, now + TICKET_LIFETIME_MILLIS));
return ticket;
}
public StreamTarget consume(String ticket) {
if (ticket == null || ticket.isBlank()) {
return null;
}
StreamTarget target = tickets.get(ticket);
if (target == null || target.expiresAt() < System.currentTimeMillis()) {
tickets.remove(ticket);
return null;
}
return target;
}
public record StreamTarget(String terminalId, String deviceId, long expiresAt) {
}
}

102
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcBidiSessionRegistry.java Normal file
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@ -0,0 +1,102 @@
package com.cmvr.edge.client.manage;
import com.cmvr.common.exception.GlobalException;
import io.grpc.stub.StreamObserver;
import java.util.UUID;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ConcurrentMap;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicReference;
import java.util.function.Function;
/** Maintains independently addressable bidirectional gRPC streams for HTTP clients. */
public class GrpcBidiSessionRegistry<Req, Resp> {
private final ConcurrentMap<String, Session<Req, Resp>> sessions = new ConcurrentHashMap<>();
public String open(Function<StreamObserver<Resp>, StreamObserver<Req>> opener, Req initialRequest) {
String sessionId = UUID.randomUUID().toString();
Session<Req, Resp> session = new Session<>();
StreamObserver<Resp> responseObserver = new StreamObserver<Resp>() {
@Override
public void onNext(Resp value) {
session.latest.set(value);
}
@Override
public void onError(Throwable throwable) {
session.error.set(throwable);
session.completed.set(true);
}
@Override
public void onCompleted() {
session.completed.set(true);
}
};
session.requestObserver = opener.apply(responseObserver);
sessions.put(sessionId, session);
try {
session.requestObserver.onNext(initialRequest);
} catch (RuntimeException exception) {
sessions.remove(sessionId);
throw exception;
}
return sessionId;
}
public void send(String sessionId, Req request) {
Session<Req, Resp> session = require(sessionId);
checkAvailable(sessionId, session);
session.requestObserver.onNext(request);
}
public Resp getLatest(String sessionId) {
Session<Req, Resp> session = require(sessionId);
Throwable error = session.error.get();
if (error != null) {
throw new GlobalException("gRPC stream failed: " + error.getMessage());
}
return session.latest.get();
}
public void close(String sessionId) {
Session<Req, Resp> session = sessions.remove(sessionId);
if (session == null) {
throw new GlobalException("Unknown stream session: " + sessionId);
}
if (!session.completed.get()) {
session.requestObserver.onCompleted();
session.completed.set(true);
}
}
private Session<Req, Resp> require(String sessionId) {
if (sessionId == null || sessionId.trim().isEmpty()) {
throw new GlobalException("Stream session ID cannot be empty");
}
Session<Req, Resp> session = sessions.get(sessionId);
if (session == null) {
throw new GlobalException("Unknown stream session: " + sessionId);
}
return session;
}
private void checkAvailable(String sessionId, Session<Req, Resp> session) {
Throwable error = session.error.get();
if (error != null) {
throw new GlobalException("gRPC stream failed: " + error.getMessage());
}
if (session.completed.get()) {
throw new GlobalException("gRPC stream is already completed: " + sessionId);
}
}
private static final class Session<Req, Resp> {
private StreamObserver<Req> requestObserver;
private final AtomicReference<Resp> latest = new AtomicReference<>();
private final AtomicReference<Throwable> error = new AtomicReference<>();
private final AtomicBoolean completed = new AtomicBoolean();
}
}

73
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java
View File

@ -1,8 +1,8 @@
package com.cmvr.edge.client.manage;
import cmvr.api.*;
import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil;
import com.cmvr.device.domain.DeDeviceTerminalConfig;
import com.cmvr.device.service.IDeDeviceTerminalConfigService;
import io.grpc.ManagedChannel;
@ -13,6 +13,7 @@ import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import jakarta.annotation.PostConstruct;
import java.net.InetSocketAddress;
import java.util.Map;
import java.util.concurrent.*;
import java.util.function.Function;
@ -61,6 +62,9 @@ public class GrpcServiceManager {
clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
// 注册agv服务的stub
clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
clientFactories.put(MotorServiceGrpc.MotorServiceBlockingStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newBlockingStub));
clientFactories.put(MotorServiceGrpc.MotorServiceStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newStub));
clientFactories.put(ArmTeleopServiceGrpc.ArmTeleopServiceStub.class, new GrpcClientFactory<>(ArmTeleopServiceGrpc::newStub));
// 注册机器人实时语音双向流服务的异步Stub
}
@ -84,8 +88,8 @@ public class GrpcServiceManager {
* 创建gRPC通道
*/
private ManagedChannel createChannel(String terminalId) {
String grpcAddress = getGrpcServiceAddress(terminalId);
return ManagedChannelBuilder.forTarget(grpcAddress)
InetSocketAddress endpoint = getGrpcServiceEndpoint(terminalId);
return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort())
.usePlaintext()
.maxInboundMessageSize(50 * 1024 * 1024) // 50MB
.build();
@ -94,12 +98,69 @@ public class GrpcServiceManager {
/**
* 获取终端地址
*/
private String getGrpcServiceAddress(String terminalId) {
private InetSocketAddress getGrpcServiceEndpoint(String terminalId) {
DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId);
if (ObjUtil.isEmpty(terminal)) {
return DEFAULT_GRPC_ADDRESS;
return parseGrpcAddress(DEFAULT_GRPC_ADDRESS);
}
return StrUtil.format("static://{}:{}", terminal.getHost(), terminal.getPort());
return createEndpoint(terminal.getHost(), terminal.getPort(), "终端 " + terminalId);
}
/**
* 兼容原有 static://host:port 配置，但使用主机和端口直接创建通道。
*/
static InetSocketAddress parseGrpcAddress(String address) {
if (address == null || address.trim().isEmpty()) {
throw new IllegalArgumentException("gRPC 默认地址不能为空");
}
String endpoint = address.trim();
int schemeIndex = endpoint.indexOf("://");
if (schemeIndex >= 0) {
endpoint = endpoint.substring(schemeIndex + 3);
}
while (endpoint.startsWith("/")) {
endpoint = endpoint.substring(1);
}
String host;
String portText;
if (endpoint.startsWith("[")) {
int bracketEnd = endpoint.indexOf(']');
if (bracketEnd < 0 || bracketEnd + 1 >= endpoint.length() || endpoint.charAt(bracketEnd + 1) != ':') {
throw invalidGrpcAddress(address);
}
host = endpoint.substring(1, bracketEnd);
portText = endpoint.substring(bracketEnd + 2);
} else {
int portSeparator = endpoint.lastIndexOf(':');
if (portSeparator <= 0 || portSeparator == endpoint.length() - 1) {
throw invalidGrpcAddress(address);
}
host = endpoint.substring(0, portSeparator);
portText = endpoint.substring(portSeparator + 1);
}
try {
return createEndpoint(host, Long.parseLong(portText), "默认配置");
} catch (NumberFormatException exception) {
throw invalidGrpcAddress(address);
}
}
private static InetSocketAddress createEndpoint(String host, Long port, String source) {
String normalizedHost = host == null ? "" : host.trim();
if (normalizedHost.isEmpty()) {
throw new IllegalArgumentException(source + " 的 gRPC 主机不能为空");
}
if (port == null || port <= 0 || port > 65535) {
throw new IllegalArgumentException(source + " 的 gRPC 端口无效: " + port);
}
return InetSocketAddress.createUnresolved(normalizedHost, port.intValue());
}
private static IllegalArgumentException invalidGrpcAddress(String address) {
return new IllegalArgumentException("gRPC 默认地址格式无效: " + address + "，应为 static://host:port 或 host:port");
}
/**

9
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopHeartbeatVO.java Normal file
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@ -0,0 +1,9 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
@Data
public class EdgeArmTeleopHeartbeatVO {
private String sessionId;
private long sequence;
}

27
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java Normal file
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@ -0,0 +1,27 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
import java.util.List;
@Data
public class EdgeArmTeleopOpenVO {
private String terminalId;
private Integer protocolMajor;
private Integer protocolMinor;
private String clientInstanceId;
private String robotId;
private String modelSha256;
private String calibrationSha256;
private List<String> jointNames;
private String positionUnit;
private String velocityUnit;
private String effortUnit;
private String baseFrame;
private String toolFrame;
private Integer commandRateHz;
private Integer stateRateHz;
private Integer watchdogTimeoutMs;
private Integer leaseMs;
private boolean forceFeedback;
}

12
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopSetpointVO.java Normal file
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@ -0,0 +1,12 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
@Data
public class EdgeArmTeleopSetpointVO {
private String sessionId;
private long sequence;
private double[] positionRad;
private double[] velocityRadS;
private Integer validForUs;
}

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopStopVO.java Normal file
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@ -0,0 +1,10 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
@Data
public class EdgeArmTeleopStopVO {
private String sessionId;
private String reason;
private String detail;
}

22
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/camera/EdgeCameraPtzVO.java Normal file
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@ -0,0 +1,22 @@
package com.cmvr.edge.client.model.camera;
import com.cmvr.edge.client.model.EdgeCommonVO;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
@ApiModel("Camera PTZ control parameters")
public class EdgeCameraPtzVO extends EdgeCommonVO {
@ApiModelProperty(value = "PTZ command, for example PAN_LEFT or ZOOM_IN", required = true)
private String command;
@ApiModelProperty(value = "Action: START or STOP", required = true)
private String action;
@ApiModelProperty("Movement speed")
private Integer speed;
}

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicOpenVO.java Normal file
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@ -0,0 +1,10 @@
package com.cmvr.edge.client.model.motor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
public class EdgeMotorCyclicOpenVO extends EdgeMotorTargetVO {
private Integer watchdogTimeoutMs;
}

13
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicSetpointVO.java Normal file
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@ -0,0 +1,13 @@
package com.cmvr.edge.client.model.motor;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
@Data
public class EdgeMotorCyclicSetpointVO {
@ApiModelProperty(value = "Session ID returned by the open endpoint", required = true)
private String sessionId;
private long sequence;
private Double targetPositionRad;
private Double targetVelocityRadS;
}

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorEnabledVO.java Normal file
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@ -0,0 +1,10 @@
package com.cmvr.edge.client.model.motor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
public class EdgeMotorEnabledVO extends EdgeMotorTargetVO {
private boolean enabled;
}

18
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorMotionVO.java Normal file
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@ -0,0 +1,18 @@
package com.cmvr.edge.client.model.motor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
public class EdgeMotorMotionVO extends EdgeMotorTargetVO {
private Double targetPositionRad;
private Double targetVelocityRadS;
private Double maxVelocityRadS;
private Double accelerationRadS2;
private Integer timeoutMs;
private Integer pollPeriodMs;
private Double positionToleranceRad;
private Double velocityToleranceRadS;
private Integer settleSampleCount;
}

19
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorTargetVO.java Normal file
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@ -0,0 +1,19 @@
package com.cmvr.edge.client.model.motor;
import com.cmvr.edge.client.model.EdgeCommonVO;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
@ApiModel("Motor target")
public class EdgeMotorTargetVO extends EdgeCommonVO {
@ApiModelProperty("Motor numeric ID; use either motorId or jointName")
private Integer motorId;
@ApiModelProperty("Joint name; use either motorId or jointName")
private String jointName;
}

16
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemJsonCommandVO.java Normal file
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@ -0,0 +1,16 @@
package com.cmvr.edge.client.model.system;
import com.cmvr.edge.client.model.EdgeCommonVO;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
@ApiModel("System JSON device command")
public class EdgeSystemJsonCommandVO extends EdgeCommonVO {
@ApiModelProperty(value = "JSON request passed to the target device", required = true)
private String requestJson;
}

31
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemUpdateParamsVO.java Normal file
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@ -0,0 +1,31 @@
package com.cmvr.edge.client.model.system;
import com.cmvr.edge.client.model.EdgeCommonVO;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.EqualsAndHashCode;
import java.util.List;
@Data
@EqualsAndHashCode(callSuper = true)
@ApiModel("System configuration update")
public class EdgeSystemUpdateParamsVO extends EdgeCommonVO {
@ApiModelProperty(value = "Configuration parameters", required = true)
private List<Param> params;
@Data
@ApiModel("Typed configuration parameter")
public static class Param {
@ApiModelProperty(value = "Parameter name", required = true)
private String name;
private Integer intValue;
private Double doubleValue;
private String stringValue;
private Boolean boolValue;
@ApiModelProperty("Base64 encoded byte value")
private String bytesBase64;
}
}

16
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java
View File

@ -1,7 +1,7 @@
package com.cmvr.edge.client.service;
import cmvr.msgs.Agv;
import cmvr.msgs.Agv.AgvRuntimeState;
import cmvr.msgs.AgvUtils;
import cmvr.msgs.AgvUtils.AgvRuntimeState;
import com.cmvr.edge.client.model.EdgeCommonVO;
@ -29,7 +29,7 @@ public interface EdgeAgvService {
* @param edgeCommonVO 边缘通用参数
* @return 导航状态
*/
Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO);
AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO);
/**
* 紧急停止
@ -51,7 +51,7 @@ public interface EdgeAgvService {
* @param edgeCommonVO 边缘通用参数
* @param pose 目标位姿
*/
void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose);
void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose);
/**
* 导航到站点
@ -67,7 +67,7 @@ public interface EdgeAgvService {
* @param edgeCommonVO 边缘通用参数
* @param pathSegments 路径段列表
*/
void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments);
void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments);
/**
* 暂停导航
@ -96,7 +96,7 @@ public interface EdgeAgvService {
* @param edgeCommonVO 边缘通用参数
* @param velocity 速度
*/
void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity);
void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity);
/**
* 停止速度控制
@ -119,7 +119,7 @@ public interface EdgeAgvService {
* @param edgeCommonVO 边缘通用参数
* @return 站点列表
*/
List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO);
List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO);
/**
* 切换地图
@ -156,7 +156,7 @@ public interface EdgeAgvService {
* @param realTime 是否实时建图
* @return 会话ID
*/
String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime);
String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime);
/**
* 停止建图

19
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmTeleopService.java Normal file
View File

@ -0,0 +1,19 @@
package com.cmvr.edge.client.service;
import cmvr.api.armteleop.v1.ArmTeleopV1;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO;
public interface EdgeArmTeleopService {
String open(EdgeArmTeleopOpenVO request);
void sendSetpoint(EdgeArmTeleopSetpointVO request);
void heartbeat(EdgeArmTeleopHeartbeatVO request);
ArmTeleopV1.ServerFrame getStatus(String sessionId);
void stop(EdgeArmTeleopStopVO request);
}

11
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java
View File

@ -2,8 +2,11 @@ package com.cmvr.edge.client.service;
import cmvr.api.CameraCommand;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
import io.grpc.stub.StreamObserver;
import java.io.OutputStream;
/**
* 边缘系统摄像头服务
*/
@ -34,6 +37,8 @@ public interface EdgeCameraService {
*/
public String getRGBImage(EdgeCommonVO edgeCommonVO);
String getDepthImage(EdgeCommonVO edgeCommonVO);
/**
* 开始录制视频
*/
@ -49,8 +54,14 @@ public interface EdgeCameraService {
*/
public String getRGBDImages(EdgeCommonVO edgeCommonVO);
String controlPtz(EdgeCameraPtzVO ptzVO);
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(EdgeCommonVO edgeCommonVO);
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String terminalId, String deviceId);
void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream);
void getDepthImageStream(EdgeCommonVO edgeCommonVO);
void getRGBDImagesStream(EdgeCommonVO edgeCommonVO);

36
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMotorService.java Normal file
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@ -0,0 +1,36 @@
package com.cmvr.edge.client.service;
import cmvr.api.MotorCommand;
import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
public interface EdgeMotorService {
MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request);
MotorCommand.MotorCommandResponse moveToZero(EdgeMotorMotionVO request);
MotorCommand.MotorCommandResponse profilePosition(EdgeMotorMotionVO request);
MotorCommand.MotorCommandResponse profileVelocity(EdgeMotorMotionVO request);
MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request);
MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request);
MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request);
String openCyclicPosition(EdgeMotorCyclicOpenVO request);
void sendCyclicPosition(EdgeMotorCyclicSetpointVO request);
String openCyclicVelocity(EdgeMotorCyclicOpenVO request);
void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request);
MotorCommand.CyclicControlResponse getStreamStatus(String sessionId);
void closeStream(String sessionId);
}

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java
View File

@ -1,8 +1,10 @@
package com.cmvr.edge.client.service;
import cmvr.api.Common;
import cmvr.api.SystemCommand;
import com.cmvr.device.domain.DeDeviceRegistration;
import com.cmvr.device.domain.vo.Device;
import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
import java.util.List;
@ -10,12 +12,18 @@ import java.util.List;
* 边缘系统服务接口
*/
public interface EdgeSystemService {
SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId);
/**
* 获取系统状态
* @return 系统状态信息，包含CPU使用率、内存使用情况、磁盘使用情况和设备列表
*/
SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId);
Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request);
Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
public List<DeDeviceRegistration> deviceList(String terminalId);

18
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
View File

@ -3,7 +3,7 @@ package com.cmvr.edge.client.service.impl;
import cmvr.api.AgvCommand;
import cmvr.api.AgvServiceGrpc;
import cmvr.api.Common;
import cmvr.msgs.Agv;
import cmvr.msgs.AgvUtils;
import cn.hutool.core.util.StrUtil;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.manage.GrpcServiceManager;
@ -30,7 +30,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
private final GrpcServiceManager grpcServiceManager;
@Override
public Agv.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder()
@ -40,7 +40,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder()
@ -66,7 +66,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) {
public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
if (pose == null) {
throw new GlobalException("目标位姿不能为空");
}
@ -96,7 +96,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments) {
public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments) {
if (pathSegments == null || pathSegments.isEmpty()) {
throw new GlobalException("路径段不能为空");
}
@ -135,7 +135,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity) {
public void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity) {
if (velocity == null) {
throw new GlobalException("速度不能为空");
}
@ -168,7 +168,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
public List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder()
@ -227,12 +227,12 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime) {
public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setDimension(dimension != null ? dimension : Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
.setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
.setRealTime(realTime);
if (StrUtil.isNotBlank(mapName)) {

100
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java Normal file
View File

@ -0,0 +1,100 @@
package com.cmvr.edge.client.service.impl;
import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
import cmvr.api.armteleop.v1.ArmTeleopV1;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO;
import com.cmvr.edge.client.service.EdgeArmTeleopService;
import lombok.RequiredArgsConstructor;
import org.springframework.stereotype.Service;
@Service
@RequiredArgsConstructor
public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService {
private final GrpcServiceManager grpcServiceManager;
private final GrpcBidiSessionRegistry<ArmTeleopV1.ClientFrame,
ArmTeleopV1.ServerFrame> sessions = new GrpcBidiSessionRegistry<>();
@Override
public String open(EdgeArmTeleopOpenVO request) {
if (request.getTerminalId() == null || request.getTerminalId().trim().isEmpty()) {
throw new GlobalException("terminalId cannot be empty");
}
ArmTeleopV1.RobotManifest.Builder manifest = ArmTeleopV1.RobotManifest.newBuilder();
if (request.getRobotId() != null) manifest.setRobotId(request.getRobotId());
if (request.getModelSha256() != null) manifest.setModelSha256(request.getModelSha256());
if (request.getCalibrationSha256() != null) manifest.setCalibrationSha256(request.getCalibrationSha256());
if (request.getJointNames() != null) manifest.addAllJointNames(request.getJointNames());
if (request.getPositionUnit() != null) manifest.setPositionUnit(request.getPositionUnit());
if (request.getVelocityUnit() != null) manifest.setVelocityUnit(request.getVelocityUnit());
if (request.getEffortUnit() != null) manifest.setEffortUnit(request.getEffortUnit());
if (request.getBaseFrame() != null) manifest.setBaseFrame(request.getBaseFrame());
if (request.getToolFrame() != null) manifest.setToolFrame(request.getToolFrame());
ArmTeleopV1.OpenSession.Builder open = ArmTeleopV1.OpenSession.newBuilder()
.setExpectedRobot(manifest)
.setRequestForceFeedback(request.isForceFeedback());
if (request.getProtocolMajor() != null) open.setProtocolMajor(request.getProtocolMajor());
if (request.getProtocolMinor() != null) open.setProtocolMinor(request.getProtocolMinor());
if (request.getClientInstanceId() != null) open.setClientInstanceId(request.getClientInstanceId());
if (request.getCommandRateHz() != null) open.setRequestedCommandRateHz(request.getCommandRateHz());
if (request.getStateRateHz() != null) open.setRequestedStateRateHz(request.getStateRateHz());
if (request.getWatchdogTimeoutMs() != null) open.setWatchdogTimeoutMs(request.getWatchdogTimeoutMs());
if (request.getLeaseMs() != null) open.setRequestedLeaseMs(request.getLeaseMs());
ArmTeleopServiceGrpc.ArmTeleopServiceStub stub = grpcServiceManager.getGrpcClient(
request.getTerminalId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class);
return sessions.open(stub::teleoperate, ArmTeleopV1.ClientFrame.newBuilder().setOpen(open).build());
}
@Override
public void sendSetpoint(EdgeArmTeleopSetpointVO request) {
if (request.getSequence() <= 0) throw new GlobalException("sequence must be greater than zero");
if (request.getValidForUs() == null || request.getValidForUs() <= 0) {
throw new GlobalException("validForUs must be greater than zero");
}
ArmTeleopV1.JointSetpoint.Builder setpoint = ArmTeleopV1.JointSetpoint.newBuilder()
.setSequence(request.getSequence()).setValidForUs(request.getValidForUs());
if (request.getPositionRad() != null) {
for (double value : request.getPositionRad()) setpoint.addPositionRad(value);
}
if (request.getVelocityRadS() != null) {
for (double value : request.getVelocityRadS()) setpoint.addVelocityRadS(value);
}
sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setSetpoint(setpoint).build());
}
@Override
public void heartbeat(EdgeArmTeleopHeartbeatVO request) {
ArmTeleopV1.ClientHeartbeat heartbeat = ArmTeleopV1.ClientHeartbeat.newBuilder()
.setSequence(request.getSequence()).build();
sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setHeartbeat(heartbeat).build());
}
@Override
public ArmTeleopV1.ServerFrame getStatus(String sessionId) {
return sessions.getLatest(sessionId);
}
@Override
public void stop(EdgeArmTeleopStopVO request) {
ArmTeleopV1.StopReason reason;
try {
reason = request.getReason() == null || request.getReason().trim().isEmpty()
? ArmTeleopV1.StopReason.STOP_REASON_OPERATOR_REQUEST
: ArmTeleopV1.StopReason.valueOf(request.getReason().trim().toUpperCase());
} catch (IllegalArgumentException exception) {
throw new GlobalException("Invalid teleoperation stop reason");
}
ArmTeleopV1.StopSession stop = ArmTeleopV1.StopSession.newBuilder()
.setReason(reason).setDetail(request.getDetail() == null ? "" : request.getDetail()).build();
sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setStop(stop).build());
sessions.close(request.getSessionId());
}
}

352
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java
View File

@ -10,14 +10,17 @@ import com.cmvr.common.enums.FileType;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.file.ByteArrayMultipartFile;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.manage.GrpcStreamManager;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
import com.cmvr.edge.client.service.EdgeCameraService;
import com.cmvr.edge.client.service.EdgeStreamService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import com.cmvr.edge.client.utils.H265DecoderUtil;
import com.cmvr.edge.client.utils.H265Fmp4Transcoder;
import com.cmvr.framework.websocket.service.MessagePushService;
import com.cmvr.system.service.ISysFileService;
import com.google.protobuf.ByteString;
import io.grpc.Status;
import io.grpc.stub.StreamObserver;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@ -43,12 +46,17 @@ import java.io.ByteArrayOutputStream;
import java.io.DataOutputStream;
import java.io.File;
import java.io.IOException;
import java.io.OutputStream;
import java.nio.file.Files;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.Base64;
import java.util.Iterator;
import java.util.List;
import java.util.concurrent.CountDownLatch;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicReference;
@Slf4j
@ -127,6 +135,31 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
}
}
@Override
public String getDepthImage(EdgeCommonVO edgeCommonVO) {
if (!checkStatus(edgeCommonVO)) {
start(edgeCommonVO);
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.GetDepthImageCommand.Request request = CameraCommand.GetDepthImageCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
CameraCommand.GetDepthImageCommand.Feedback feedback = executeGrpcCall(() -> stub.getDepthImage(request));
CameraCommand.FrameData frame = feedback.getDepthFrame();
if (!feedback.hasDepthFrame() || frame.getWidth() <= 0 || frame.getHeight() <= 0) {
throw new GlobalException("Depth image data is invalid");
}
String filePath = saveDepthImage(frame);
try {
return sysFileService.uploadFile(convertFileToMultipartFile(filePath), FileType.IMAGE.code());
} catch (IOException exception) {
throw new GlobalException("Depth image upload failed: " + exception.getMessage());
} finally {
deleteTempFile(filePath);
}
}
@Override
public String startRecording(EdgeCommonVO edgeCommonVO) {
if (!checkStatus(edgeCommonVO)) {
@ -193,75 +226,251 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
// return JSON.toJSONString(result);
}
// 缓冲区和收集状态
private final List<byte[]> framesBuffer = new ArrayList<>();
private boolean isCollectingFrames = false;
@Override
public String controlPtz(EdgeCameraPtzVO ptzVO) {
CameraCommand.ControlPtzCommand.Command command;
CameraCommand.ControlPtzCommand.Action action;
try {
command = CameraCommand.ControlPtzCommand.Command.valueOf(ptzVO.getCommand().trim().toUpperCase());
action = CameraCommand.ControlPtzCommand.Action.valueOf(ptzVO.getAction().trim().toUpperCase());
} catch (RuntimeException exception) {
throw new GlobalException("Invalid PTZ command or action");
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
ptzVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.ControlPtzCommand.Request request = CameraCommand.ControlPtzCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(ptzVO.getDeviceId()))
.setCommand(command)
.setAction(action)
.setSpeed(ptzVO.getSpeed() == null ? 0 : ptzVO.getSpeed())
.build();
return JSON.toJSONString(executeGrpcCall(() -> stub.controlPtz(request)).getHeader());
}
@Override
public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(EdgeCommonVO edgeCommonVO) {
if (!checkStatus(edgeCommonVO)) {
start(edgeCommonVO);
return getRGBImageStream(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
}
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
@Override
public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String terminalId, String deviceId) {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setTerminalId(terminalId);
edgeCommonVO.setDeviceId(deviceId);
CameraCommand.CameraState cameraState = status(edgeCommonVO);
if (cameraState.getIsError()) {
throw new GlobalException("Camera is in error state");
}
if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) {
start(edgeCommonVO);
cameraState = status(edgeCommonVO);
}
int frameRate = cameraState.getFps();
String channel = "edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId;
String streamKey = terminalId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream";
AtomicInteger sequence = new AtomicInteger();
AtomicBoolean firstMediaChunk = new AtomicBoolean(true);
AtomicReference<StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>> requestObserverRef = new AtomicReference<>();
H265Fmp4Transcoder transcoder;
try {
transcoder = new H265Fmp4Transcoder(
terminalId + "-" + deviceId,
frameRate,
chunk -> {
int currentSequence = sequence.incrementAndGet();
if (firstMediaChunk.compareAndSet(true, false)) {
log.info("摄像头流已输出首个fMP4片段, terminalId: {}, deviceId: {}, bytes: {}",
terminalId, deviceId, chunk.length);
}
messagePushService.pushH264Fmp4ToChannel(channel, chunk, currentSequence);
},
throwable -> {
log.error("摄像头媒体转码失败, terminalId: {}, deviceId: {}", terminalId, deviceId, throwable);
messagePushService.pushToChannel(channel, "500");
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> observer = requestObserverRef.get();
if (observer != null) {
observer.onError(Status.INTERNAL.withDescription("媒体转码失败").withCause(throwable).asRuntimeException());
}
}
);
transcoder.start();
} catch (IOException exception) {
throw new GlobalException("摄像头媒体转码器初始化失败: " + exception.getMessage());
}
CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceStub.class);
// 创建StreamObserver来处理响应
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver = new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
@Override
public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
try {
CameraCommand.FrameData frame = value.getColorFrame();
byte[] frameData = frame.getData().toByteArray();
if (frame.getIsKeyFrame()) { // I帧
if (isCollectingFrames) {
// 处理之前的缓冲区数据
String videoBase64 = H265DecoderUtil.convertH265FramesToVideo(framesBuffer);
if (videoBase64 != null) {
messagePushService.pushToChannel(
"edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId,
videoBase64
);
}
// 重置缓冲区
framesBuffer.clear();
}
// 开始新收集段
framesBuffer.add(frameData);
isCollectingFrames = true;
} else {
// 非I帧且正在收集时加入缓冲区
if (isCollectingFrames) {
framesBuffer.add(frameData);
}
transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
} catch (IOException exception) {
log.error("写入摄像头媒体流失败, terminalId: {}, deviceId: {}", terminalId, deviceId, exception);
transcoder.close();
messagePushService.pushToChannel(channel, "500");
}
}
@Override
public void onError(Throwable t) {
// 记录详细的错误信息
log.error("Error occurred in getRGBImageStream for terminalId: {}, deviceId: {}. Error: {}", terminalId, deviceId, t.getMessage(), t);
// 推送错误信息
messagePushService.pushToChannel("edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId, "500");
transcoder.close();
GrpcStreamManager.removeStream(streamKey);
Status status = Status.fromThrowable(t);
if (status.getCode() != Status.Code.CANCELLED) {
log.error("摄像头gRPC流异常, terminalId: {}, deviceId: {}", terminalId, deviceId, t);
messagePushService.pushToChannel(channel, "500");
}
}
@Override
public void onCompleted() {
// 流结束
System.out.println("Stream completed.");
transcoder.close();
GrpcStreamManager.removeStream(streamKey);
log.info("摄像头gRPC流结束, terminalId: {}, deviceId: {}", terminalId, deviceId);
}
};
// 创建StreamObserver来发送请求
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver = stub.getRGBImageStream(responseObserver);
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> grpcRequestObserver;
try {
grpcRequestObserver = stub.getRGBImageStream(responseObserver);
requestObserverRef.set(grpcRequestObserver);
} catch (RuntimeException exception) {
transcoder.close();
throw exception;
}
// 构建请求并发送
CameraCommand.GetRGBImageStreamCommand.Request request = CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.setEof(false)
.build();
requestObserver.onNext(request);
return requestObserver;
grpcRequestObserver.onNext(request);
return new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>() {
@Override
public void onNext(CameraCommand.GetRGBImageStreamCommand.Request value) {
grpcRequestObserver.onNext(value);
}
@Override
public void onError(Throwable throwable) {
transcoder.close();
grpcRequestObserver.onError(throwable);
}
@Override
public void onCompleted() {
transcoder.close();
grpcRequestObserver.onCompleted();
}
};
}
@Override
public void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream) {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setTerminalId(terminalId);
edgeCommonVO.setDeviceId(deviceId);
CameraCommand.CameraState cameraState = status(edgeCommonVO);
if (cameraState.getIsError()) {
throw new GlobalException("Camera is in error state");
}
if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) {
start(edgeCommonVO);
cameraState = status(edgeCommonVO);
}
CountDownLatch finished = new CountDownLatch(1);
AtomicBoolean streamFinished = new AtomicBoolean(false);
AtomicReference<StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>> requestObserverRef =
new AtomicReference<>();
Runnable finishStream = () -> {
if (streamFinished.compareAndSet(false, true)) {
finished.countDown();
}
};
H265Fmp4Transcoder transcoder;
try {
transcoder = new H265Fmp4Transcoder(
"http-" + terminalId + "-" + deviceId,
cameraState.getFps(),
chunk -> {
try {
outputStream.write(chunk);
outputStream.flush();
} catch (IOException exception) {
throw new CameraStreamWriteException(exception);
}
},
throwable -> {
if (!(throwable instanceof CameraStreamWriteException)) {
log.error("HTTP camera media transcoding failed, terminalId: {}, deviceId: {}",
terminalId, deviceId, throwable);
}
finishStream.run();
}
);
transcoder.start();
} catch (IOException exception) {
throw new GlobalException("Failed to initialize camera video stream: " + exception.getMessage());
}
CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(
terminalId, CameraServiceGrpc.CameraServiceStub.class);
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver =
new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
@Override
public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
CameraCommand.FrameData frame = value.getColorFrame();
try {
transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
} catch (IOException exception) {
log.error("Failed to write HTTP camera frame, terminalId: {}, deviceId: {}, codec: {}",
terminalId, deviceId, frame.getCodec(), exception);
finishStream.run();
}
}
@Override
public void onError(Throwable throwable) {
Status status = Status.fromThrowable(throwable);
if (status.getCode() != Status.Code.CANCELLED && !streamFinished.get()) {
log.warn("HTTP camera gRPC stream ended, terminalId: {}, deviceId: {}, status: {}",
terminalId, deviceId, status);
}
finishStream.run();
}
@Override
public void onCompleted() {
finishStream.run();
}
};
try {
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver =
stub.getRGBImageStream(responseObserver);
requestObserverRef.set(requestObserver);
requestObserver.onNext(CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.setEof(false)
.build());
finished.await();
} catch (InterruptedException exception) {
Thread.currentThread().interrupt();
} finally {
transcoder.close();
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver =
requestObserverRef.getAndSet(null);
if (requestObserver != null) {
try {
requestObserver.onCompleted();
} catch (RuntimeException ignored) {
}
}
}
}
@Override
@ -447,4 +656,57 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
}
}
}
private String saveDepthImage(CameraCommand.FrameData frame) {
int pixelCount = frame.getWidth() * frame.getHeight();
byte[] source = frame.getData().toByteArray();
if (frame.getType() == CameraCommand.FrameData.FrameType.U8C1) {
if (source.length < pixelCount) {
throw new GlobalException("Depth image byte count is invalid");
}
return saveImage(ByteString.copyFrom(source, 0, pixelCount), frame.getWidth(), frame.getHeight(), true);
}
double[] values = new double[pixelCount];
ByteBuffer buffer = ByteBuffer.wrap(source).order(ByteOrder.LITTLE_ENDIAN);
if (frame.getType() == CameraCommand.FrameData.FrameType.F32C1) {
if (source.length < pixelCount * Float.BYTES) {
throw new GlobalException("F32 depth image byte count is invalid");
}
for (int i = 0; i < pixelCount; i++) values[i] = buffer.getFloat();
} else if (frame.getType() == CameraCommand.FrameData.FrameType.U16C1
|| frame.getType() == CameraCommand.FrameData.FrameType.F16C1) {
if (source.length < pixelCount * Short.BYTES) {
throw new GlobalException("16-bit depth image byte count is invalid");
}
for (int i = 0; i < pixelCount; i++) values[i] = Short.toUnsignedInt(buffer.getShort());
} else {
throw new GlobalException("Unsupported depth frame type: " + frame.getType());
}
double min = Double.POSITIVE_INFINITY;
double max = Double.NEGATIVE_INFINITY;
for (double value : values) {
if (Double.isFinite(value) && value > 0) {
min = Math.min(min, value);
max = Math.max(max, value);
}
}
byte[] grayscale = new byte[pixelCount];
if (Double.isFinite(min) && max > min) {
double scale = 255.0 / (max - min);
for (int i = 0; i < values.length; i++) {
double value = values[i];
grayscale[i] = !Double.isFinite(value) || value <= 0
? 0 : (byte) Math.max(0, Math.min(255, Math.round((value - min) * scale)));
}
}
return saveImage(ByteString.copyFrom(grayscale), frame.getWidth(), frame.getHeight(), true);
}
private static final class CameraStreamWriteException extends RuntimeException {
private CameraStreamWriteException(IOException cause) {
super(cause);
}
}
}

189
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java Normal file
View File

@ -0,0 +1,189 @@
package com.cmvr.edge.client.service.impl;
import cmvr.api.MotorCommand;
import cmvr.api.MotorServiceGrpc;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
import com.cmvr.edge.client.service.EdgeMotorService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import lombok.RequiredArgsConstructor;
import org.springframework.stereotype.Service;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ConcurrentMap;
@Service
@RequiredArgsConstructor
public class EdgeMotorServiceImpl implements EdgeMotorService {
private final GrpcServiceManager grpcServiceManager;
private final GrpcBidiSessionRegistry<MotorCommand.CyclicPositionRequest,
MotorCommand.CyclicControlResponse> positionStreams = new GrpcBidiSessionRegistry<>();
private final GrpcBidiSessionRegistry<MotorCommand.CyclicVelocityRequest,
MotorCommand.CyclicControlResponse> velocityStreams = new GrpcBidiSessionRegistry<>();
private final ConcurrentMap<String, Boolean> streamTypes = new ConcurrentHashMap<>();
@Override
public MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request) {
return blockingStub(request.getTerminalId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder()
.setTarget(buildTarget(request)).build());
}
@Override
public MotorCommand.MotorCommandResponse moveToZero(EdgeMotorMotionVO request) {
MotorCommand.MoveMotorToZeroRequest.Builder builder = MotorCommand.MoveMotorToZeroRequest.newBuilder()
.setTarget(buildTarget(request)).setWait(buildWait(request));
if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS());
if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
return blockingStub(request.getTerminalId()).moveToZero(builder.build());
}
@Override
public MotorCommand.MotorCommandResponse profilePosition(EdgeMotorMotionVO request) {
if (request.getTargetPositionRad() == null) {
throw new GlobalException("targetPositionRad cannot be empty");
}
MotorCommand.ProfilePositionRequest.Builder builder = MotorCommand.ProfilePositionRequest.newBuilder()
.setTarget(buildTarget(request))
.setTargetPositionRad(request.getTargetPositionRad())
.setWait(buildWait(request));
if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS());
if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
return blockingStub(request.getTerminalId()).profilePosition(builder.build());
}
@Override
public MotorCommand.MotorCommandResponse profileVelocity(EdgeMotorMotionVO request) {
if (request.getTargetVelocityRadS() == null) {
throw new GlobalException("targetVelocityRadS cannot be empty");
}
MotorCommand.ProfileVelocityRequest.Builder builder = MotorCommand.ProfileVelocityRequest.newBuilder()
.setTarget(buildTarget(request))
.setTargetVelocityRadS(request.getTargetVelocityRadS())
.setWait(buildWait(request));
if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
return blockingStub(request.getTerminalId()).profileVelocity(builder.build());
}
@Override
public MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request) {
return blockingStub(request.getTerminalId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder()
.setTarget(buildTarget(request)).build());
}
@Override
public MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request) {
return blockingStub(request.getTerminalId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder()
.setTarget(buildTarget(request)).build());
}
@Override
public MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request) {
return blockingStub(request.getTerminalId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder()
.setTarget(buildTarget(request)).setEnabled(request.isEnabled()).build());
}
@Override
public String openCyclicPosition(EdgeMotorCyclicOpenVO request) {
MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId());
MotorCommand.CyclicPositionRequest open = MotorCommand.CyclicPositionRequest.newBuilder()
.setOpen(buildOpen(request)).build();
String sessionId = positionStreams.open(stub::streamCyclicPosition, open);
streamTypes.put(sessionId, Boolean.TRUE);
return sessionId;
}
@Override
public void sendCyclicPosition(EdgeMotorCyclicSetpointVO request) {
if (request.getTargetPositionRad() == null) {
throw new GlobalException("targetPositionRad cannot be empty");
}
MotorCommand.CyclicPositionSetpoint.Builder setpoint = MotorCommand.CyclicPositionSetpoint.newBuilder()
.setSequence(request.getSequence()).setTargetPositionRad(request.getTargetPositionRad());
if (request.getTargetVelocityRadS() != null) {
setpoint.setTargetVelocityRadS(request.getTargetVelocityRadS());
}
positionStreams.send(request.getSessionId(), MotorCommand.CyclicPositionRequest.newBuilder()
.setSetpoint(setpoint).build());
}
@Override
public String openCyclicVelocity(EdgeMotorCyclicOpenVO request) {
MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId());
MotorCommand.CyclicVelocityRequest open = MotorCommand.CyclicVelocityRequest.newBuilder()
.setOpen(buildOpen(request)).build();
String sessionId = velocityStreams.open(stub::streamCyclicVelocity, open);
streamTypes.put(sessionId, Boolean.FALSE);
return sessionId;
}
@Override
public void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request) {
if (request.getTargetVelocityRadS() == null) {
throw new GlobalException("targetVelocityRadS cannot be empty");
}
MotorCommand.CyclicVelocitySetpoint setpoint = MotorCommand.CyclicVelocitySetpoint.newBuilder()
.setSequence(request.getSequence()).setTargetVelocityRadS(request.getTargetVelocityRadS()).build();
velocityStreams.send(request.getSessionId(), MotorCommand.CyclicVelocityRequest.newBuilder()
.setSetpoint(setpoint).build());
}
@Override
public MotorCommand.CyclicControlResponse getStreamStatus(String sessionId) {
Boolean position = streamTypes.get(sessionId);
if (position == null) throw new GlobalException("Unknown stream session: " + sessionId);
return position ? positionStreams.getLatest(sessionId) : velocityStreams.getLatest(sessionId);
}
@Override
public void closeStream(String sessionId) {
Boolean position = streamTypes.remove(sessionId);
if (position == null) throw new GlobalException("Unknown stream session: " + sessionId);
if (position) positionStreams.close(sessionId); else velocityStreams.close(sessionId);
}
private MotorCommand.MotorTarget buildTarget(EdgeMotorTargetVO request) {
MotorCommand.MotorTarget.Builder builder = MotorCommand.MotorTarget.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()));
if (request.getMotorId() != null) {
if (request.getMotorId() < 0) throw new GlobalException("motorId cannot be negative");
builder.setMotorId(request.getMotorId());
} else if (request.getJointName() != null && !request.getJointName().trim().isEmpty()) {
builder.setJointName(request.getJointName());
} else {
throw new GlobalException("Either motorId or jointName must be provided");
}
return builder.build();
}
private MotorCommand.MotorWaitOptions buildWait(EdgeMotorMotionVO request) {
MotorCommand.MotorWaitOptions.Builder builder = MotorCommand.MotorWaitOptions.newBuilder();
if (request.getTimeoutMs() != null) builder.setTimeoutMs(request.getTimeoutMs());
if (request.getPollPeriodMs() != null) builder.setPollPeriodMs(request.getPollPeriodMs());
if (request.getPositionToleranceRad() != null) builder.setPositionToleranceRad(request.getPositionToleranceRad());
if (request.getVelocityToleranceRadS() != null) builder.setVelocityToleranceRadS(request.getVelocityToleranceRadS());
if (request.getSettleSampleCount() != null) builder.setSettleSampleCount(request.getSettleSampleCount());
return builder.build();
}
private MotorCommand.CyclicStreamOpen buildOpen(EdgeMotorCyclicOpenVO request) {
MotorCommand.CyclicStreamOpen.Builder builder = MotorCommand.CyclicStreamOpen.newBuilder()
.setTarget(buildTarget(request));
if (request.getWatchdogTimeoutMs() != null) builder.setWatchdogTimeoutMs(request.getWatchdogTimeoutMs());
return builder.build();
}
private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String terminalId) {
return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceBlockingStub.class);
}
private MotorServiceGrpc.MotorServiceStub asyncStub(String terminalId) {
return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceStub.class);
}
}

75
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java
View File

@ -1,18 +1,24 @@
package com.cmvr.edge.client.service.impl;
import cmvr.api.Common;
import cmvr.api.SystemCommand;
import cmvr.api.SystemServiceGrpc;
import com.alibaba.fastjson2.JSON;
import com.cmvr.device.domain.DeDeviceRegistration;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
import com.cmvr.edge.client.service.EdgeSystemService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import com.cmvr.common.exception.GlobalException;
import com.google.protobuf.ByteString;
import lombok.RequiredArgsConstructor;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.Base64;
import java.util.List;
/**
@ -29,6 +35,75 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
private final GrpcServiceManager grpcServiceManager;
@Override
public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId) {
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
terminalId, SystemServiceGrpc.SystemServiceBlockingStub.class);
return stub.getSystemInfo(SystemCommand.GetSystemInfoCommand.Request.newBuilder().build());
}
@Override
public Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request) {
SystemCommand.UpdateParamsCommand.Request.Builder requestBuilder =
SystemCommand.UpdateParamsCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()));
if (request.getParams() != null) {
for (EdgeSystemUpdateParamsVO.Param param : request.getParams()) {
requestBuilder.addParams(buildParam(param));
}
}
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
request.getTerminalId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
return stub.updateParams(requestBuilder.build()).getHeader();
}
@Override
public Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request) {
Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()))
.setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson())
.build();
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
request.getTerminalId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
return stub.executeJsonCommand(grpcRequest);
}
private Common.ConfigParam buildParam(EdgeSystemUpdateParamsVO.Param param) {
if (param == null || param.getName() == null || param.getName().trim().isEmpty()) {
throw new GlobalException("Parameter name cannot be empty");
}
Common.ConfigParam.Builder builder = Common.ConfigParam.newBuilder().setParamName(param.getName());
int valueCount = 0;
if (param.getIntValue() != null) {
builder.setIntValue(param.getIntValue());
valueCount++;
}
if (param.getDoubleValue() != null) {
builder.setDoubleValue(param.getDoubleValue());
valueCount++;
}
if (param.getStringValue() != null) {
builder.setStringValue(param.getStringValue());
valueCount++;
}
if (param.getBoolValue() != null) {
builder.setBoolValue(param.getBoolValue());
valueCount++;
}
if (param.getBytesBase64() != null) {
try {
builder.setBytesValue(ByteString.copyFrom(Base64.getDecoder().decode(param.getBytesBase64())));
} catch (IllegalArgumentException exception) {
throw new GlobalException("Invalid Base64 value for parameter " + param.getName());
}
valueCount++;
}
if (valueCount != 1) {
throw new GlobalException("Parameter " + param.getName() + " must contain exactly one typed value");
}
return builder.build();
}
public List<DeDeviceRegistration> deviceList(String terminalId){

20
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java
View File

@ -3,6 +3,7 @@ package com.cmvr.edge.client.service.impl;
import com.cmvr.edge.client.manage.GrpcStreamManager;
import com.cmvr.edge.client.service.EdgeStreamService;
import com.cmvr.framework.websocket.service.GrpcClientService;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import io.grpc.Status;
import io.grpc.stub.StreamObserver;
import org.slf4j.Logger;
@ -12,6 +13,7 @@ import org.springframework.stereotype.Service;
import java.lang.reflect.Method;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
/**
* grpc客户端服务实现类
@ -26,10 +28,14 @@ public class GrpcClientServiceImpl implements GrpcClientService {
* 所有流式服务
*/
private final Map<String, EdgeStreamService> serviceMap;
private final ChannelSubscriptionManager channelSubscriptionManager;
private final Map<String, Object> streamLocks = new ConcurrentHashMap<>();
@Autowired
public GrpcClientServiceImpl(Map<String, EdgeStreamService> serviceMap) {
public GrpcClientServiceImpl(Map<String, EdgeStreamService> serviceMap,
ChannelSubscriptionManager channelSubscriptionManager) {
this.serviceMap = serviceMap;
this.channelSubscriptionManager = channelSubscriptionManager;
}
@Override
@ -43,19 +49,24 @@ public class GrpcClientServiceImpl implements GrpcClientService {
// 构造流键
String key = terminalId + deviceId + service + method;
String channel = service + "/" + method + "/" + terminalId + "/" + deviceId;
Object streamLock = streamLocks.computeIfAbsent(key, ignored -> new Object());
synchronized (streamLock) {
if (isStart) {
// 通过反射调用指定方法
if (GrpcStreamManager.containsKey(key)) {
return;
}
Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class);
StreamObserver<?> streamObserver = (StreamObserver<?>) streamMethod.invoke(serviceInstance, terminalId, deviceId);
if (streamObserver != null) {
GrpcStreamManager.addStream(key, streamObserver);
}
} else {
if (!GrpcStreamManager.containsKey(key)) {
// 旧连接的异步取消到达时，如果已有新订阅者，则继续复用当前流。
if (channelSubscriptionManager.hasSubscribers(channel) || !GrpcStreamManager.containsKey(key)) {
return;
}
// 移除并关闭流
StreamObserver<?> streamObserver = GrpcStreamManager.removeStream(key);
try {
streamObserver.onError(Status.CANCELLED.withDescription("流需要关闭").asException());
@ -64,6 +75,7 @@ public class GrpcClientServiceImpl implements GrpcClientService {
log.info("流结束");
}
}
}
} catch (Exception e) {
log.error("调用服务失败{}", e.getMessage(), e);
}

593
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/utils/H265Fmp4Transcoder.java Normal file
View File

@ -0,0 +1,593 @@
package com.cmvr.edge.client.utils;
import org.bytedeco.ffmpeg.global.avcodec;
import org.bytedeco.javacv.FFmpegFrameGrabber;
import org.bytedeco.javacv.FFmpegFrameRecorder;
import org.bytedeco.javacv.Frame;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.ArrayDeque;
import java.util.Deque;
import java.util.Locale;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;
/**
* 将一条连续 H.265 裸码流转换为浏览器 MediaSource 可追加的 H.264 fragmented MP4。
*/
public final class H265Fmp4Transcoder implements AutoCloseable {
private static final Logger log = LoggerFactory.getLogger(H265Fmp4Transcoder.class);
public static final String MIME_TYPE = "video/mp4; codecs=\"avc1.42C01E\"";
private static final int MAX_QUEUED_BYTES = 512 * 1024;
private final Consumer<Throwable> errorConsumer;
private final String streamName;
private final int configuredFrameRate;
private final LiveEncodedVideoInputStream inputStream;
private final MediaChunkOutputStream outputStream;
private final AtomicBoolean closed = new AtomicBoolean(false);
private final Thread worker;
private volatile FFmpegFrameGrabber grabber;
private volatile FFmpegFrameRecorder recorder;
public H265Fmp4Transcoder(String streamName,
int configuredFrameRate,
Consumer<byte[]> chunkConsumer,
Consumer<Throwable> errorConsumer) throws IOException {
this.errorConsumer = errorConsumer;
this.streamName = streamName;
this.configuredFrameRate = configuredFrameRate;
int maxQueuedFrames = Math.max(4, Math.min(20,
(int) Math.ceil((configuredFrameRate > 0 ? configuredFrameRate : 25) * 0.35D)));
this.inputStream = new LiveEncodedVideoInputStream(streamName, maxQueuedFrames, MAX_QUEUED_BYTES);
this.outputStream = new MediaChunkOutputStream(chunkConsumer);
this.worker = new Thread(this::transcode, "camera-fmp4-" + streamName);
this.worker.setDaemon(true);
}
public void start() {
worker.start();
}
/**
* gRPC按顺序写入编码帧；管道满时自然背压，防止无限堆积导致延迟持续增长。
*/
public void write(byte[] encodedFrame, boolean keyFrame, String codec) throws IOException {
if (encodedFrame == null || encodedFrame.length == 0 || closed.get()) {
return;
}
inputStream.offer(encodedFrame, keyFrame, codec);
}
private void transcode() {
try {
InputCodec inputCodec = inputStream.awaitInputCodec();
grabber = new FFmpegFrameGrabber(inputStream, 0);
grabber.setFormat(inputCodec.ffmpegFormat);
grabber.setOption("fflags", "nobuffer");
grabber.setOption("flags", "low_delay");
grabber.setOption("probesize", "32768");
// The codec and sequence headers are known before startup, so probing can stay disabled for live input.
grabber.start(false);
inputStream.markDecoderInitialized();
Frame frame = grabber.grabImage();
if (frame == null) {
throw new IllegalStateException("H.265码流未产生可解码图像");
}
int width = frame.imageWidth > 0 ? frame.imageWidth : grabber.getImageWidth();
int height = frame.imageHeight > 0 ? frame.imageHeight : grabber.getImageHeight();
if (width <= 0 || height <= 0) {
throw new IllegalStateException("无法从H.265码流读取图像尺寸");
}
log.info("摄像头流{}识别到首帧: {}x{}", streamName, width, height);
double sourceFrameRate = configuredFrameRate;
if (!Double.isFinite(sourceFrameRate) || sourceFrameRate <= 0) {
sourceFrameRate = grabber.getFrameRate();
}
if (!Double.isFinite(sourceFrameRate) || sourceFrameRate <= 0) {
sourceFrameRate = 25D;
}
sourceFrameRate = Math.max(5D, Math.min(sourceFrameRate, 60D));
double outputFrameRate = Math.min(sourceFrameRate, 25D);
int gopSize = Math.max(1, (int) Math.round(outputFrameRate * 0.4D));
long sourceFrameDurationMicros = Math.max(1L, Math.round(1_000_000D / sourceFrameRate));
long outputFrameDurationMicros = Math.max(1L, Math.round(1_000_000D / outputFrameRate));
log.info("Camera stream {} uses {} source fps, {} output fps and a {} frame GOP",
streamName, sourceFrameRate, outputFrameRate, gopSize);
recorder = new FFmpegFrameRecorder(outputStream, width, height, 0);
recorder.setFormat("mp4");
recorder.setVideoCodec(avcodec.AV_CODEC_ID_H264);
recorder.setFrameRate(outputFrameRate);
recorder.setGopSize(gopSize);
recorder.setVideoBitrate(4_000_000);
recorder.setVideoOption("preset", "ultrafast");
recorder.setVideoOption("tune", "zerolatency");
recorder.setVideoOption("bf", "0");
recorder.setOption("movflags", "frag_keyframe+empty_moov+default_base_moof+omit_tfhd_offset");
recorder.setOption("frag_duration", "100000");
recorder.setOption("flush_packets", "1");
recorder.start();
outputStream.publishAvailable();
long sourceFrameIndex = 0L;
long nextOutputTimestampMicros = 0L;
do {
long sourceTimestampMicros = sourceFrameIndex * sourceFrameDurationMicros;
if (sourceTimestampMicros + sourceFrameDurationMicros / 2 >= nextOutputTimestampMicros) {
recorder.setTimestamp(nextOutputTimestampMicros);
recorder.record(frame);
nextOutputTimestampMicros += outputFrameDurationMicros;
outputStream.publishAvailable();
}
sourceFrameIndex++;
} while (!closed.get() && (frame = grabber.grabImage()) != null);
} catch (Throwable throwable) {
if (!closed.get()) {
errorConsumer.accept(throwable);
}
} finally {
releaseNativeResources();
try {
outputStream.publishAvailable();
} catch (RuntimeException ignored) {
}
inputStream.close();
closed.set(true);
}
}
@Override
public void close() {
if (!closed.compareAndSet(false, true)) {
return;
}
inputStream.close();
worker.interrupt();
}
private void releaseNativeResources() {
FFmpegFrameRecorder currentRecorder = recorder;
recorder = null;
if (currentRecorder != null) {
try {
currentRecorder.stop();
} catch (Exception ignored) {
}
try {
currentRecorder.release();
} catch (Exception ignored) {
}
}
FFmpegFrameGrabber currentGrabber = grabber;
grabber = null;
if (currentGrabber != null) {
try {
currentGrabber.stop();
} catch (Exception ignored) {
}
try {
currentGrabber.release();
} catch (Exception ignored) {
}
}
}
private enum InputCodec {
H264("h264", "H.264"),
H265("hevc", "H.265");
private final String ffmpegFormat;
private final String displayName;
InputCodec(String ffmpegFormat, String displayName) {
this.ffmpegFormat = ffmpegFormat;
this.displayName = displayName;
}
}
private static final class LiveEncodedVideoInputStream extends InputStream {
private final String streamName;
private final int maxQueuedFrames;
private final int maxQueuedBytes;
private final Deque<EncodedFrame> queue = new ArrayDeque<>();
private byte[] currentFrame;
private int currentOffset;
private int queuedBytes;
private boolean droppingUntilKeyFrame;
private boolean closed;
private long droppedFrames;
private long lastDropLogNanos;
private InputCodec inputCodec;
private boolean sequenceHeaderSeen;
private boolean decoderStarted;
private boolean decoderInitialized;
private boolean h264SpsSeen;
private boolean h264PpsSeen;
private boolean framingNormalizationLogged;
private LiveEncodedVideoInputStream(String streamName, int maxQueuedFrames, int maxQueuedBytes) {
this.streamName = streamName;
this.maxQueuedFrames = maxQueuedFrames;
this.maxQueuedBytes = maxQueuedBytes;
}
private synchronized void offer(byte[] data, boolean keyFrame, String codecHint) throws IOException {
if (closed) {
return;
}
byte[] normalizedData = normalizeToAnnexB(data, codecHint);
if (normalizedData != data && !framingNormalizationLogged) {
framingNormalizationLogged = true;
log.info("Camera stream {} normalized {} packets to Annex-B framing", streamName, codecHint);
}
data = normalizedData;
InputCodec encodedFrameCodec = detectEncodedFrameCodec(data);
InputCodec detectedCodec = encodedFrameCodec != null ? encodedFrameCodec : detectCodecHint(codecHint);
if (detectedCodec != null) {
if (inputCodec != null && inputCodec != detectedCodec) {
throw new IOException("Camera stream codec changed from " + inputCodec.displayName
+ " to " + detectedCodec.displayName + "; reconnect the stream");
}
if (inputCodec == null) {
inputCodec = detectedCodec;
log.info("Camera stream {} selected {} decoder (codec hint: {})",
streamName, inputCodec.displayName,
codecHint == null || codecHint.isBlank() ? "NAL detection" : codecHint);
notifyAll();
}
}
boolean h264SpsFrame = inputCodec == InputCodec.H264 && containsNalType(data, InputCodec.H264, 7);
boolean h264PpsFrame = inputCodec == InputCodec.H264 && containsNalType(data, InputCodec.H264, 8);
boolean h265SpsFrame = inputCodec == InputCodec.H265 && containsNalType(data, InputCodec.H265, 33);
boolean sequenceHeaderStart = h264SpsFrame || h265SpsFrame;
if (sequenceHeaderStart && !decoderStarted) {
int staleFrames = queue.size();
queue.clear();
queuedBytes = 0;
droppingUntilKeyFrame = false;
recordDrop(staleFrames);
if (inputCodec == InputCodec.H264) {
h264SpsSeen = false;
h264PpsSeen = false;
}
}
boolean wasSequenceHeaderSeen = sequenceHeaderSeen;
if (inputCodec == InputCodec.H264) {
h264SpsSeen |= h264SpsFrame;
h264PpsSeen |= h264PpsFrame;
sequenceHeaderSeen = h264SpsSeen && h264PpsSeen;
} else if (inputCodec == InputCodec.H265) {
sequenceHeaderSeen |= h265SpsFrame;
}
if (!wasSequenceHeaderSeen && sequenceHeaderSeen) {
log.info("Camera stream {} received the {} sequence header; decoder can start",
streamName, inputCodec.displayName);
}
if (droppingUntilKeyFrame) {
if (!keyFrame) {
recordDrop(1);
return;
}
droppingUntilKeyFrame = false;
}
boolean queueOverloaded = queue.size() >= maxQueuedFrames
|| queuedBytes + data.length > maxQueuedBytes;
boolean newerGopAvailable = decoderInitialized && keyFrame
&& queue.size() >= Math.max(2, maxQueuedFrames / 2);
if (queueOverloaded || newerGopAvailable) {
int staleFrames = queue.size();
queue.clear();
queuedBytes = 0;
recordDrop(staleFrames);
if (!keyFrame) {
droppingUntilKeyFrame = true;
recordDrop(1);
return;
}
}
queue.addLast(new EncodedFrame(data));
queuedBytes += data.length;
notifyAll();
}
private synchronized InputCodec awaitInputCodec() throws IOException {
while (!closed && (inputCodec == null || !sequenceHeaderSeen)) {
try {
wait();
} catch (InterruptedException exception) {
Thread.currentThread().interrupt();
throw new IOException("Interrupted while waiting for camera codec", exception);
}
}
if (inputCodec == null || !sequenceHeaderSeen) {
throw new IOException("Camera stream closed before its H.264/H.265 sequence header was received");
}
decoderStarted = true;
return inputCodec;
}
private synchronized void markDecoderInitialized() {
decoderInitialized = true;
}
@Override
public synchronized int read() throws IOException {
byte[] oneByte = new byte[1];
int count = read(oneByte, 0, 1);
return count < 0 ? -1 : oneByte[0] & 0xFF;
}
@Override
public synchronized int read(byte[] target, int offset, int length) throws IOException {
while (!closed && !ensureCurrentFrame()) {
try {
wait();
} catch (InterruptedException exception) {
Thread.currentThread().interrupt();
throw new IOException("Interrupted while waiting for encoded video data", exception);
}
}
if (!ensureCurrentFrame()) {
return -1;
}
int count = Math.min(length, currentFrame.length - currentOffset);
System.arraycopy(currentFrame, currentOffset, target, offset, count);
currentOffset += count;
if (currentOffset >= currentFrame.length) {
currentFrame = null;
currentOffset = 0;
}
return count;
}
@Override
public synchronized int available() {
int currentBytes = currentFrame == null ? 0 : currentFrame.length - currentOffset;
return currentBytes + queuedBytes;
}
@Override
public synchronized void close() {
closed = true;
queue.clear();
queuedBytes = 0;
currentFrame = null;
notifyAll();
}
private boolean ensureCurrentFrame() {
if (currentFrame != null && currentOffset < currentFrame.length) {
return true;
}
EncodedFrame next = queue.pollFirst();
if (next == null) {
return false;
}
queuedBytes -= next.data.length;
currentFrame = next.data;
currentOffset = 0;
return true;
}
private void recordDrop(long count) {
if (count <= 0) {
return;
}
droppedFrames += count;
long now = System.nanoTime();
if (now - lastDropLogNanos >= 1_000_000_000L) {
log.warn("Camera stream {} is behind; dropped {} stale encoded frames and will resume at the latest key frame",
streamName, droppedFrames);
droppedFrames = 0;
lastDropLogNanos = now;
}
}
}
private static byte[] normalizeToAnnexB(byte[] data, String codecHint) {
if (hasAnnexBStartCode(data)) {
return data;
}
byte[] converted = convertLengthPrefixedToAnnexB(data);
if (converted != null) {
return converted;
}
if (detectCodecHint(codecHint) != null) {
byte[] prefixed = new byte[data.length + 4];
prefixed[3] = 1;
System.arraycopy(data, 0, prefixed, 4, data.length);
return prefixed;
}
return data;
}
private static boolean hasAnnexBStartCode(byte[] data) {
int scanLimit = Math.min(data.length - 2, 8);
for (int index = 0; index < scanLimit; index++) {
if (startCodeLength(data, index) > 0) {
return true;
}
}
return false;
}
private static byte[] convertLengthPrefixedToAnnexB(byte[] data) {
if (data.length < 5) {
return null;
}
int offset = 0;
int nalCount = 0;
ByteArrayOutputStream output = new ByteArrayOutputStream(data.length + 16);
while (offset + 4 <= data.length) {
long nalLength = ((long) (data[offset] & 0xFF) << 24)
| ((long) (data[offset + 1] & 0xFF) << 16)
| ((long) (data[offset + 2] & 0xFF) << 8)
| (data[offset + 3] & 0xFFL);
offset += 4;
if (nalLength <= 0 || nalLength > data.length - offset) {
return null;
}
output.write(0);
output.write(0);
output.write(0);
output.write(1);
output.write(data, offset, (int) nalLength);
offset += (int) nalLength;
nalCount++;
}
return offset == data.length && nalCount > 0 ? output.toByteArray() : null;
}
private static InputCodec detectCodecHint(String codecHint) {
if (codecHint != null && !codecHint.isBlank()) {
String normalized = codecHint.trim().toLowerCase(Locale.ROOT);
if (normalized.contains("h265") || normalized.contains("h.265")
|| normalized.contains("hevc") || normalized.contains("hev1")
|| normalized.contains("hvc1")) {
return InputCodec.H265;
}
if (normalized.contains("h264") || normalized.contains("h.264")
|| normalized.contains("avc") || normalized.contains("avc1")) {
return InputCodec.H264;
}
}
return null;
}
private static boolean containsNalType(byte[] data, InputCodec codec, int expectedType) {
for (int index = 0; index + 3 < data.length; index++) {
int startCodeLength = startCodeLength(data, index);
if (startCodeLength > 0) {
int nalType = nalType(codec, data[index + startCodeLength] & 0xFF);
if (nalType == expectedType) {
return true;
}
index += startCodeLength - 1;
}
}
return false;
}
private static int nalType(InputCodec codec, int header) {
return codec == InputCodec.H264 ? header & 0x1F : (header >> 1) & 0x3F;
}
private static InputCodec detectEncodedFrameCodec(byte[] data) {
if (data == null || data.length == 0) {
return null;
}
for (int index = 0; index + 3 < data.length; index++) {
int startCodeLength = startCodeLength(data, index);
if (startCodeLength > 0) {
InputCodec codec = detectNalHeader(data[index + startCodeLength] & 0xFF);
if (codec != null) {
return codec;
}
index += startCodeLength - 1;
}
}
int offset = 0;
while (offset + 5 <= data.length) {
long nalLength = ((long) (data[offset] & 0xFF) << 24)
| ((long) (data[offset + 1] & 0xFF) << 16)
| ((long) (data[offset + 2] & 0xFF) << 8)
| (data[offset + 3] & 0xFFL);
if (nalLength <= 0 || nalLength > data.length - offset - 4L) {
break;
}
InputCodec codec = detectNalHeader(data[offset + 4] & 0xFF);
if (codec != null) {
return codec;
}
offset += 4 + (int) nalLength;
}
return null;
}
private static int startCodeLength(byte[] data, int index) {
if (index + 2 < data.length && data[index] == 0 && data[index + 1] == 0) {
if (data[index + 2] == 1) {
return 3;
}
if (index + 3 < data.length && data[index + 2] == 0 && data[index + 3] == 1) {
return 4;
}
}
return 0;
}
private static InputCodec detectNalHeader(int header) {
int h264Type = header & 0x1F;
if (h264Type == 7) {
return InputCodec.H264;
}
int h265Type = (header >> 1) & 0x3F;
if (h265Type == 33) {
return InputCodec.H265;
}
return null;
}
private static final class EncodedFrame {
private final byte[] data;
private EncodedFrame(byte[] data) {
this.data = data;
}
}
private static final class MediaChunkOutputStream extends OutputStream {
private final ByteArrayOutputStream buffer = new ByteArrayOutputStream(128 * 1024);
private final Consumer<byte[]> consumer;
private MediaChunkOutputStream(Consumer<byte[]> consumer) {
this.consumer = consumer;
}
@Override
public synchronized void write(int value) {
buffer.write(value);
}
@Override
public synchronized void write(byte[] bytes, int offset, int length) {
buffer.write(bytes, offset, length);
}
@Override
public synchronized void flush() {
publishAvailable();
}
private synchronized void publishAvailable() {
if (buffer.size() == 0) {
return;
}
byte[] chunk = buffer.toByteArray();
buffer.reset();
consumer.accept(chunk);
}
}
}

21
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/README.md Normal file
View File

@ -0,0 +1,21 @@
# CMVR-ES Proto Contract
This module maintains a one-way mirror of protobuf definitions from the
`xtkuang_dev` branch of the CMVR-ES repository.
During Maven's `initialize` phase, the build performs a shallow sparse clone
of the upstream `protos/cmvr/api`, `protos/cmvr/msgs`, and
`protos/cmvr/common` directories. These directories replace the local
`src/main/proto/cmvr` mirror, and Java/gRPC sources are regenerated under
`src/main/java/cmvr` so Maven and IDE compilation use the same files.
The build machine must have `git` installed and read access to the CMVR-ES
SSH repository. The upstream repository and ref can be overridden when
needed:
```shell
mvn -Dcmvr.es.repository=<git-url> -Dcmvr.es.proto.ref=<branch-or-tag> compile
```
Do not edit local proto or generated Java files. The next Maven build replaces
them with the current upstream definitions.

72
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml
View File

@ -10,6 +10,12 @@
</parent>
<artifactId>cmvr-iot-grpc-lib</artifactId>
<properties>
<cmvr.es.repository>ssh://git@192.168.28.10:10022/SmartBench/cmvr-es.git</cmvr.es.repository>
<cmvr.es.proto.ref>xtkuang_dev</cmvr.es.proto.ref>
<cmvr.es.checkout.dir>${project.build.directory}/cmvr-es</cmvr.es.checkout.dir>
</properties>
<description> cmvr-iot gRPC 公共 proto 生成库</description>
<dependencies>
@ -52,6 +58,64 @@
</extension>
</extensions>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-antrun-plugin</artifactId>
<version>3.1.0</version>
<executions>
<execution>
<id>fetch-cmvr-es-protos</id>
<phase>initialize</phase>
<configuration>
<target>
<delete dir="${cmvr.es.checkout.dir}" quiet="true"/>
<mkdir dir="${project.build.directory}"/>
<exec executable="git" failonerror="true">
<arg value="clone"/>
<arg value="--depth"/>
<arg value="1"/>
<arg value="--filter=blob:none"/>
<arg value="--sparse"/>
<arg value="--single-branch"/>
<arg value="--branch"/>
<arg value="${cmvr.es.proto.ref}"/>
<arg value="${cmvr.es.repository}"/>
<arg value="${cmvr.es.checkout.dir}"/>
</exec>
<exec executable="git" failonerror="true">
<arg value="-C"/>
<arg value="${cmvr.es.checkout.dir}"/>
<arg value="sparse-checkout"/>
<arg value="set"/>
<arg value="protos/cmvr/api"/>
<arg value="protos/cmvr/msgs"/>
<arg value="protos/cmvr/common"/>
</exec>
<exec executable="git" failonerror="true">
<arg value="-C"/>
<arg value="${cmvr.es.checkout.dir}"/>
<arg value="rev-parse"/>
<arg value="HEAD"/>
</exec>
<delete dir="${basedir}/src/main/proto/cmvr" quiet="true"/>
<copy todir="${basedir}/src/main/proto/cmvr/api">
<fileset dir="${cmvr.es.checkout.dir}/protos/cmvr/api" includes="**/*.proto"/>
</copy>
<copy todir="${basedir}/src/main/proto/cmvr/msgs">
<fileset dir="${cmvr.es.checkout.dir}/protos/cmvr/msgs" includes="**/*.proto"/>
</copy>
<copy todir="${basedir}/src/main/proto/cmvr/common">
<fileset dir="${cmvr.es.checkout.dir}/protos/cmvr/common" includes="**/*.proto"/>
</copy>
<delete dir="${basedir}/src/main/java/cmvr" quiet="true"/>
</target>
</configuration>
<goals>
<goal>run</goal>
</goals>
</execution>
</executions>
</plugin>
<plugin>
<groupId>org.xolstice.maven.plugins</groupId>
<artifactId>protobuf-maven-plugin</artifactId>
@ -60,10 +124,14 @@
<protocArtifact>com.google.protobuf:protoc:3.21.7:exe:${os.detected.classifier}</protocArtifact>
<pluginId>grpc-java</pluginId>
<pluginArtifact>io.grpc:protoc-gen-grpc-java:1.52.0:exe:${os.detected.classifier}</pluginArtifact>
<!-- 输出目录 -->
<protoSourceRoot>${basedir}/src/main/proto</protoSourceRoot>
<outputDirectory>${basedir}/src/main/java</outputDirectory>
<!-- 每次执行命令时不清空之前生成的代码(追加的方式) -->
<clearOutputDirectory>false</clearOutputDirectory>
<includes>
<include>cmvr/api/*.proto</include>
<include>cmvr/msgs/*.proto</include>
<include>cmvr/common/*.proto</include>
</includes>
</configuration>
<executions>
<execution>

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80
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceGrpc.java
View File

@ -263,6 +263,37 @@ public final class CameraServiceGrpc {
return getStopRecordingMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.CameraCommand.ControlPtzCommand.Request,
cmvr.api.CameraCommand.ControlPtzCommand.Feedback> getControlPtzMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "ControlPtz",
requestType = cmvr.api.CameraCommand.ControlPtzCommand.Request.class,
responseType = cmvr.api.CameraCommand.ControlPtzCommand.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.CameraCommand.ControlPtzCommand.Request,
cmvr.api.CameraCommand.ControlPtzCommand.Feedback> getControlPtzMethod() {
io.grpc.MethodDescriptor<cmvr.api.CameraCommand.ControlPtzCommand.Request, cmvr.api.CameraCommand.ControlPtzCommand.Feedback> getControlPtzMethod;
if ((getControlPtzMethod = CameraServiceGrpc.getControlPtzMethod) == null) {
synchronized (CameraServiceGrpc.class) {
if ((getControlPtzMethod = CameraServiceGrpc.getControlPtzMethod) == null) {
CameraServiceGrpc.getControlPtzMethod = getControlPtzMethod =
io.grpc.MethodDescriptor.<cmvr.api.CameraCommand.ControlPtzCommand.Request, cmvr.api.CameraCommand.ControlPtzCommand.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "ControlPtz"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.CameraCommand.ControlPtzCommand.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.CameraCommand.ControlPtzCommand.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new CameraServiceMethodDescriptorSupplier("ControlPtz"))
.build();
}
}
}
return getControlPtzMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.CameraCommand.GetRGBImageStreamCommand.Request,
cmvr.api.CameraCommand.GetRGBImageStreamCommand.Feedback> getGetRGBImageStreamMethod;
@ -460,6 +491,13 @@ public final class CameraServiceGrpc {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getStopRecordingMethod(), responseObserver);
}
/**
*/
public void controlPtz(cmvr.api.CameraCommand.ControlPtzCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.CameraCommand.ControlPtzCommand.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getControlPtzMethod(), responseObserver);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(
@ -539,6 +577,13 @@ public final class CameraServiceGrpc {
cmvr.api.CameraCommand.StopCameraRecordingCommand.Request,
cmvr.api.CameraCommand.StopCameraRecordingCommand.Feedback>(
this, METHODID_STOP_RECORDING)))
.addMethod(
getControlPtzMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.CameraCommand.ControlPtzCommand.Request,
cmvr.api.CameraCommand.ControlPtzCommand.Feedback>(
this, METHODID_CONTROL_PTZ)))
.addMethod(
getGetRGBImageStreamMethod(),
io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
@ -642,6 +687,14 @@ public final class CameraServiceGrpc {
getChannel().newCall(getStopRecordingMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void controlPtz(cmvr.api.CameraCommand.ControlPtzCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.CameraCommand.ControlPtzCommand.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getControlPtzMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(
@ -736,6 +789,13 @@ public final class CameraServiceGrpc {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getStopRecordingMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.CameraCommand.ControlPtzCommand.Feedback controlPtz(cmvr.api.CameraCommand.ControlPtzCommand.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getControlPtzMethod(), getCallOptions(), request);
}
}
/**
@ -815,6 +875,14 @@ public final class CameraServiceGrpc {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getStopRecordingMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.CameraCommand.ControlPtzCommand.Feedback> controlPtz(
cmvr.api.CameraCommand.ControlPtzCommand.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getControlPtzMethod(), getCallOptions()), request);
}
}
private static final int METHODID_GET_STATUS = 0;
@ -825,9 +893,10 @@ public final class CameraServiceGrpc {
private static final int METHODID_GET_RGBDIMAGES = 5;
private static final int METHODID_START_RECORDING = 6;
private static final int METHODID_STOP_RECORDING = 7;
private static final int METHODID_GET_RGBIMAGE_STREAM = 8;
private static final int METHODID_GET_DEPTH_IMAGE_STREAM = 9;
private static final int METHODID_GET_RGBDIMAGES_STREAM = 10;
private static final int METHODID_CONTROL_PTZ = 8;
private static final int METHODID_GET_RGBIMAGE_STREAM = 9;
private static final int METHODID_GET_DEPTH_IMAGE_STREAM = 10;
private static final int METHODID_GET_RGBDIMAGES_STREAM = 11;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@ -878,6 +947,10 @@ public final class CameraServiceGrpc {
serviceImpl.stopRecording((cmvr.api.CameraCommand.StopCameraRecordingCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.CameraCommand.StopCameraRecordingCommand.Feedback>) responseObserver);
break;
case METHODID_CONTROL_PTZ:
serviceImpl.controlPtz((cmvr.api.CameraCommand.ControlPtzCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.CameraCommand.ControlPtzCommand.Feedback>) responseObserver);
break;
default:
throw new AssertionError();
}
@ -956,6 +1029,7 @@ public final class CameraServiceGrpc {
.addMethod(getGetRGBDImagesMethod())
.addMethod(getStartRecordingMethod())
.addMethod(getStopRecordingMethod())
.addMethod(getControlPtzMethod())
.addMethod(getGetRGBImageStreamMethod())
.addMethod(getGetDepthImageStreamMethod())
.addMethod(getGetRGBDImagesStreamMethod())

24
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceOuterClass.java
View File

@ -24,7 +24,7 @@ public final class CameraServiceOuterClass {
static {
java.lang.String[] descriptorData = {
"\n\035cmvr/api/camera_service.proto\022\010cmvr.ap" +
"i\032\035cmvr/api/camera_command.proto2\233\t\n\rCam" +
"i\032\035cmvr/api/camera_command.proto2\366\t\n\rCam" +
"eraService\022`\n\tGetStatus\022\'.cmvr.api.GetCa" +
"meraStateCommand.Request\032(.cmvr.api.GetC" +
"ameraStateCommand.Feedback\"\000\022\\\n\013StartCam" +
@ -45,16 +45,18 @@ public final class CameraServiceOuterClass {
"dingCommand.Feedback\"\000\022n\n\rStopRecording\022" +
",.cmvr.api.StopCameraRecordingCommand.Re" +
"quest\032-.cmvr.api.StopCameraRecordingComm" +
"and.Feedback\"\000\022r\n\021GetRGBImageStream\022*.cm" +
"vr.api.GetRGBImageStreamCommand.Request\032" +
"+.cmvr.api.GetRGBImageStreamCommand.Feed" +
"back\"\000(\0010\001\022x\n\023GetDepthImageStream\022,.cmvr" +
".api.GetDepthImageStreamCommand.Request\032" +
"-.cmvr.api.GetDepthImageStreamCommand.Fe" +
"edback\"\000(\0010\001\022x\n\023GetRGBDImagesStream\022,.cm" +
"vr.api.GetRGBDImagesStreamCommand.Reques" +
"t\032-.cmvr.api.GetRGBDImagesStreamCommand." +
"Feedback\"\000(\0010\001b\006proto3"
"and.Feedback\"\000\022Y\n\nControlPtz\022#.cmvr.api." +
"ControlPtzCommand.Request\032$.cmvr.api.Con" +
"trolPtzCommand.Feedback\"\000\022r\n\021GetRGBImage" +
"Stream\022*.cmvr.api.GetRGBImageStreamComma" +
"nd.Request\032+.cmvr.api.GetRGBImageStreamC" +
"ommand.Feedback\"\000(\0010\001\022x\n\023GetDepthImageSt" +
"ream\022,.cmvr.api.GetDepthImageStreamComma" +
"nd.Request\032-.cmvr.api.GetDepthImageStrea" +
"mCommand.Feedback\"\000(\0010\001\022x\n\023GetRGBDImages" +
"Stream\022,.cmvr.api.GetRGBDImagesStreamCom" +
"mand.Request\032-.cmvr.api.GetRGBDImagesStr" +
"eamCommand.Feedback\"\000(\0010\001b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,

1953
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Common.java
View File

File diff suppressed because it is too large Load Diff

356
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/DexhandCommand.java
View File

@ -596,8 +596,8 @@ public final class DexhandCommand {
}
public interface RH56DFTPDexHandOrBuilder extends
// @@protoc_insertion_point(interface_extends:cmvr.api.RH56DFTPDexHand)
public interface FreedomStateOrBuilder extends
// @@protoc_insertion_point(interface_extends:cmvr.api.FreedomState)
com.google.protobuf.MessageOrBuilder {
/**
@ -722,18 +722,18 @@ public final class DexhandCommand {
getErrorMessageBytes(int index);
}
/**
* Protobuf type {@code cmvr.api.RH56DFTPDexHand}
* Protobuf type {@code cmvr.api.FreedomState}
*/
public static final class RH56DFTPDexHand extends
public static final class FreedomState extends
com.google.protobuf.GeneratedMessageV3 implements
// @@protoc_insertion_point(message_implements:cmvr.api.RH56DFTPDexHand)
RH56DFTPDexHandOrBuilder {
// @@protoc_insertion_point(message_implements:cmvr.api.FreedomState)
FreedomStateOrBuilder {
private static final long serialVersionUID = 0L;
// Use RH56DFTPDexHand.newBuilder() to construct.
private RH56DFTPDexHand(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
// Use FreedomState.newBuilder() to construct.
private FreedomState(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
super(builder);
}
private RH56DFTPDexHand() {
private FreedomState() {
errorMessage_ = com.google.protobuf.LazyStringArrayList.EMPTY;
}
@ -741,7 +741,7 @@ public final class DexhandCommand {
@SuppressWarnings({"unused"})
protected java.lang.Object newInstance(
UnusedPrivateParameter unused) {
return new RH56DFTPDexHand();
return new FreedomState();
}
@java.lang.Override
@ -751,15 +751,15 @@ public final class DexhandCommand {
}
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_descriptor;
}
@java.lang.Override
protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internalGetFieldAccessorTable() {
return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable
return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_fieldAccessorTable
.ensureFieldAccessorsInitialized(
cmvr.api.DexhandCommand.RH56DFTPDexHand.class, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder.class);
cmvr.api.DexhandCommand.FreedomState.class, cmvr.api.DexhandCommand.FreedomState.Builder.class);
}
public static final int DOF_ID_FIELD_NUMBER = 1;
@ -1033,10 +1033,10 @@ public final class DexhandCommand {
if (obj == this) {
return true;
}
if (!(obj instanceof cmvr.api.DexhandCommand.RH56DFTPDexHand)) {
if (!(obj instanceof cmvr.api.DexhandCommand.FreedomState)) {
return super.equals(obj);
}
cmvr.api.DexhandCommand.RH56DFTPDexHand other = (cmvr.api.DexhandCommand.RH56DFTPDexHand) obj;
cmvr.api.DexhandCommand.FreedomState other = (cmvr.api.DexhandCommand.FreedomState) obj;
if (getDofId()
!= other.getDofId()) return false;
@ -1092,69 +1092,69 @@ public final class DexhandCommand {
return hash;
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
java.nio.ByteBuffer data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
java.nio.ByteBuffer data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
com.google.protobuf.ByteString data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
com.google.protobuf.ByteString data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(byte[] data)
public static cmvr.api.DexhandCommand.FreedomState parseFrom(byte[] data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
byte[] data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(java.io.InputStream input)
public static cmvr.api.DexhandCommand.FreedomState parseFrom(java.io.InputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessageV3
.parseWithIOException(PARSER, input);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessageV3
.parseWithIOException(PARSER, input, extensionRegistry);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseDelimitedFrom(java.io.InputStream input)
public static cmvr.api.DexhandCommand.FreedomState parseDelimitedFrom(java.io.InputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessageV3
.parseDelimitedWithIOException(PARSER, input);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseDelimitedFrom(
public static cmvr.api.DexhandCommand.FreedomState parseDelimitedFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessageV3
.parseDelimitedWithIOException(PARSER, input, extensionRegistry);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
com.google.protobuf.CodedInputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessageV3
.parseWithIOException(PARSER, input);
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
public static cmvr.api.DexhandCommand.FreedomState parseFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
@ -1167,7 +1167,7 @@ public final class DexhandCommand {
public static Builder newBuilder() {
return DEFAULT_INSTANCE.toBuilder();
}
public static Builder newBuilder(cmvr.api.DexhandCommand.RH56DFTPDexHand prototype) {
public static Builder newBuilder(cmvr.api.DexhandCommand.FreedomState prototype) {
return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
}
@java.lang.Override
@ -1183,26 +1183,26 @@ public final class DexhandCommand {
return builder;
}
/**
* Protobuf type {@code cmvr.api.RH56DFTPDexHand}
* Protobuf type {@code cmvr.api.FreedomState}
*/
public static final class Builder extends
com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
// @@protoc_insertion_point(builder_implements:cmvr.api.RH56DFTPDexHand)
cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder {
// @@protoc_insertion_point(builder_implements:cmvr.api.FreedomState)
cmvr.api.DexhandCommand.FreedomStateOrBuilder {
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_descriptor;
}
@java.lang.Override
protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internalGetFieldAccessorTable() {
return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable
return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_fieldAccessorTable
.ensureFieldAccessorsInitialized(
cmvr.api.DexhandCommand.RH56DFTPDexHand.class, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder.class);
cmvr.api.DexhandCommand.FreedomState.class, cmvr.api.DexhandCommand.FreedomState.Builder.class);
}
// Construct using cmvr.api.DexhandCommand.RH56DFTPDexHand.newBuilder()
// Construct using cmvr.api.DexhandCommand.FreedomState.newBuilder()
private Builder() {
}
@ -1239,17 +1239,17 @@ public final class DexhandCommand {
@java.lang.Override
public com.google.protobuf.Descriptors.Descriptor
getDescriptorForType() {
return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_descriptor;
}
@java.lang.Override
public cmvr.api.DexhandCommand.RH56DFTPDexHand getDefaultInstanceForType() {
return cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance();
public cmvr.api.DexhandCommand.FreedomState getDefaultInstanceForType() {
return cmvr.api.DexhandCommand.FreedomState.getDefaultInstance();
}
@java.lang.Override
public cmvr.api.DexhandCommand.RH56DFTPDexHand build() {
cmvr.api.DexhandCommand.RH56DFTPDexHand result = buildPartial();
public cmvr.api.DexhandCommand.FreedomState build() {
cmvr.api.DexhandCommand.FreedomState result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
}
@ -1257,8 +1257,8 @@ public final class DexhandCommand {
}
@java.lang.Override
public cmvr.api.DexhandCommand.RH56DFTPDexHand buildPartial() {
cmvr.api.DexhandCommand.RH56DFTPDexHand result = new cmvr.api.DexhandCommand.RH56DFTPDexHand(this);
public cmvr.api.DexhandCommand.FreedomState buildPartial() {
cmvr.api.DexhandCommand.FreedomState result = new cmvr.api.DexhandCommand.FreedomState(this);
int from_bitField0_ = bitField0_;
result.dofId_ = dofId_;
result.angle_ = angle_;
@ -1311,16 +1311,16 @@ public final class DexhandCommand {
}
@java.lang.Override
public Builder mergeFrom(com.google.protobuf.Message other) {
if (other instanceof cmvr.api.DexhandCommand.RH56DFTPDexHand) {
return mergeFrom((cmvr.api.DexhandCommand.RH56DFTPDexHand)other);
if (other instanceof cmvr.api.DexhandCommand.FreedomState) {
return mergeFrom((cmvr.api.DexhandCommand.FreedomState)other);
} else {
super.mergeFrom(other);
return this;
}
}
public Builder mergeFrom(cmvr.api.DexhandCommand.RH56DFTPDexHand other) {
if (other == cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance()) return this;
public Builder mergeFrom(cmvr.api.DexhandCommand.FreedomState other) {
if (other == cmvr.api.DexhandCommand.FreedomState.getDefaultInstance()) return this;
if (other.getDofId() != 0) {
setDofId(other.getDofId());
}
@ -1946,23 +1946,23 @@ public final class DexhandCommand {
}
// @@protoc_insertion_point(builder_scope:cmvr.api.RH56DFTPDexHand)
// @@protoc_insertion_point(builder_scope:cmvr.api.FreedomState)
}
// @@protoc_insertion_point(class_scope:cmvr.api.RH56DFTPDexHand)
private static final cmvr.api.DexhandCommand.RH56DFTPDexHand DEFAULT_INSTANCE;
// @@protoc_insertion_point(class_scope:cmvr.api.FreedomState)
private static final cmvr.api.DexhandCommand.FreedomState DEFAULT_INSTANCE;
static {
DEFAULT_INSTANCE = new cmvr.api.DexhandCommand.RH56DFTPDexHand();
DEFAULT_INSTANCE = new cmvr.api.DexhandCommand.FreedomState();
}
public static cmvr.api.DexhandCommand.RH56DFTPDexHand getDefaultInstance() {
public static cmvr.api.DexhandCommand.FreedomState getDefaultInstance() {
return DEFAULT_INSTANCE;
}
private static final com.google.protobuf.Parser<RH56DFTPDexHand>
PARSER = new com.google.protobuf.AbstractParser<RH56DFTPDexHand>() {
private static final com.google.protobuf.Parser<FreedomState>
PARSER = new com.google.protobuf.AbstractParser<FreedomState>() {
@java.lang.Override
public RH56DFTPDexHand parsePartialFrom(
public FreedomState parsePartialFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
@ -1981,17 +1981,17 @@ public final class DexhandCommand {
}
};
public static com.google.protobuf.Parser<RH56DFTPDexHand> parser() {
public static com.google.protobuf.Parser<FreedomState> parser() {
return PARSER;
}
@java.lang.Override
public com.google.protobuf.Parser<RH56DFTPDexHand> getParserForType() {
public com.google.protobuf.Parser<FreedomState> getParserForType() {
return PARSER;
}
@java.lang.Override
public cmvr.api.DexhandCommand.RH56DFTPDexHand getDefaultInstanceForType() {
public cmvr.api.DexhandCommand.FreedomState getDefaultInstanceForType() {
return DEFAULT_INSTANCE;
}
@ -4577,24 +4577,24 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
java.util.List<cmvr.api.DexhandCommand.RH56DFTPDexHand>
java.util.List<cmvr.api.DexhandCommand.FreedomState>
getHandsList();
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
cmvr.api.DexhandCommand.RH56DFTPDexHand getHands(int index);
cmvr.api.DexhandCommand.FreedomState getHands(int index);
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
int getHandsCount();
/**
@ -4602,18 +4602,18 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
java.util.List<? extends cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder>
java.util.List<? extends cmvr.api.DexhandCommand.FreedomStateOrBuilder>
getHandsOrBuilderList();
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder getHandsOrBuilder(
cmvr.api.DexhandCommand.FreedomStateOrBuilder getHandsOrBuilder(
int index);
}
/**
@ -4673,16 +4673,16 @@ public final class DexhandCommand {
}
public static final int HANDS_FIELD_NUMBER = 2;
private java.util.List<cmvr.api.DexhandCommand.RH56DFTPDexHand> hands_;
private java.util.List<cmvr.api.DexhandCommand.FreedomState> hands_;
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
@java.lang.Override
public java.util.List<cmvr.api.DexhandCommand.RH56DFTPDexHand> getHandsList() {
public java.util.List<cmvr.api.DexhandCommand.FreedomState> getHandsList() {
return hands_;
}
/**
@ -4690,10 +4690,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
@java.lang.Override
public java.util.List<? extends cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder>
public java.util.List<? extends cmvr.api.DexhandCommand.FreedomStateOrBuilder>
getHandsOrBuilderList() {
return hands_;
}
@ -4702,7 +4702,7 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
@java.lang.Override
public int getHandsCount() {
@ -4713,10 +4713,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
@java.lang.Override
public cmvr.api.DexhandCommand.RH56DFTPDexHand getHands(int index) {
public cmvr.api.DexhandCommand.FreedomState getHands(int index) {
return hands_.get(index);
}
/**
@ -4724,10 +4724,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
@java.lang.Override
public cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder getHandsOrBuilder(
public cmvr.api.DexhandCommand.FreedomStateOrBuilder getHandsOrBuilder(
int index) {
return hands_.get(index);
}
@ -5089,9 +5089,9 @@ public final class DexhandCommand {
break;
} // case 8
case 18: {
cmvr.api.DexhandCommand.RH56DFTPDexHand m =
cmvr.api.DexhandCommand.FreedomState m =
input.readMessage(
cmvr.api.DexhandCommand.RH56DFTPDexHand.parser(),
cmvr.api.DexhandCommand.FreedomState.parser(),
extensionRegistry);
if (handsBuilder_ == null) {
ensureHandsIsMutable();
@ -5161,26 +5161,26 @@ public final class DexhandCommand {
return this;
}
private java.util.List<cmvr.api.DexhandCommand.RH56DFTPDexHand> hands_ =
private java.util.List<cmvr.api.DexhandCommand.FreedomState> hands_ =
java.util.Collections.emptyList();
private void ensureHandsIsMutable() {
if (!((bitField0_ & 0x00000001) != 0)) {
hands_ = new java.util.ArrayList<cmvr.api.DexhandCommand.RH56DFTPDexHand>(hands_);
hands_ = new java.util.ArrayList<cmvr.api.DexhandCommand.FreedomState>(hands_);
bitField0_ |= 0x00000001;
}
}
private com.google.protobuf.RepeatedFieldBuilderV3<
cmvr.api.DexhandCommand.RH56DFTPDexHand, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder, cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder> handsBuilder_;
cmvr.api.DexhandCommand.FreedomState, cmvr.api.DexhandCommand.FreedomState.Builder, cmvr.api.DexhandCommand.FreedomStateOrBuilder> handsBuilder_;
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public java.util.List<cmvr.api.DexhandCommand.RH56DFTPDexHand> getHandsList() {
public java.util.List<cmvr.api.DexhandCommand.FreedomState> getHandsList() {
if (handsBuilder_ == null) {
return java.util.Collections.unmodifiableList(hands_);
} else {
@ -5192,7 +5192,7 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public int getHandsCount() {
if (handsBuilder_ == null) {
@ -5206,9 +5206,9 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public cmvr.api.DexhandCommand.RH56DFTPDexHand getHands(int index) {
public cmvr.api.DexhandCommand.FreedomState getHands(int index) {
if (handsBuilder_ == null) {
return hands_.get(index);
} else {
@ -5220,10 +5220,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder setHands(
int index, cmvr.api.DexhandCommand.RH56DFTPDexHand value) {
int index, cmvr.api.DexhandCommand.FreedomState value) {
if (handsBuilder_ == null) {
if (value == null) {
throw new NullPointerException();
@ -5241,10 +5241,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder setHands(
int index, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder builderForValue) {
int index, cmvr.api.DexhandCommand.FreedomState.Builder builderForValue) {
if (handsBuilder_ == null) {
ensureHandsIsMutable();
hands_.set(index, builderForValue.build());
@ -5259,9 +5259,9 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder addHands(cmvr.api.DexhandCommand.RH56DFTPDexHand value) {
public Builder addHands(cmvr.api.DexhandCommand.FreedomState value) {
if (handsBuilder_ == null) {
if (value == null) {
throw new NullPointerException();
@ -5279,10 +5279,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder addHands(
int index, cmvr.api.DexhandCommand.RH56DFTPDexHand value) {
int index, cmvr.api.DexhandCommand.FreedomState value) {
if (handsBuilder_ == null) {
if (value == null) {
throw new NullPointerException();
@ -5300,10 +5300,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder addHands(
cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder builderForValue) {
cmvr.api.DexhandCommand.FreedomState.Builder builderForValue) {
if (handsBuilder_ == null) {
ensureHandsIsMutable();
hands_.add(builderForValue.build());
@ -5318,10 +5318,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder addHands(
int index, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder builderForValue) {
int index, cmvr.api.DexhandCommand.FreedomState.Builder builderForValue) {
if (handsBuilder_ == null) {
ensureHandsIsMutable();
hands_.add(index, builderForValue.build());
@ -5336,10 +5336,10 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder addAllHands(
java.lang.Iterable<? extends cmvr.api.DexhandCommand.RH56DFTPDexHand> values) {
java.lang.Iterable<? extends cmvr.api.DexhandCommand.FreedomState> values) {
if (handsBuilder_ == null) {
ensureHandsIsMutable();
com.google.protobuf.AbstractMessageLite.Builder.addAll(
@ -5355,7 +5355,7 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder clearHands() {
if (handsBuilder_ == null) {
@ -5372,7 +5372,7 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public Builder removeHands(int index) {
if (handsBuilder_ == null) {
@ -5389,9 +5389,9 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder getHandsBuilder(
public cmvr.api.DexhandCommand.FreedomState.Builder getHandsBuilder(
int index) {
return getHandsFieldBuilder().getBuilder(index);
}
@ -5400,9 +5400,9 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder getHandsOrBuilder(
public cmvr.api.DexhandCommand.FreedomStateOrBuilder getHandsOrBuilder(
int index) {
if (handsBuilder_ == null) {
return hands_.get(index); } else {
@ -5414,9 +5414,9 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public java.util.List<? extends cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder>
public java.util.List<? extends cmvr.api.DexhandCommand.FreedomStateOrBuilder>
getHandsOrBuilderList() {
if (handsBuilder_ != null) {
return handsBuilder_.getMessageOrBuilderList();
@ -5429,41 +5429,41 @@ public final class DexhandCommand {
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder addHandsBuilder() {
public cmvr.api.DexhandCommand.FreedomState.Builder addHandsBuilder() {
return getHandsFieldBuilder().addBuilder(
cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance());
cmvr.api.DexhandCommand.FreedomState.getDefaultInstance());
}
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder addHandsBuilder(
public cmvr.api.DexhandCommand.FreedomState.Builder addHandsBuilder(
int index) {
return getHandsFieldBuilder().addBuilder(
index, cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance());
index, cmvr.api.DexhandCommand.FreedomState.getDefaultInstance());
}
/**
* <pre>
* 包含多个自由度状态
* </pre>
*
* <code>repeated .cmvr.api.RH56DFTPDexHand hands = 2;</code>
* <code>repeated .cmvr.api.FreedomState hands = 2;</code>
*/
public java.util.List<cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder>
public java.util.List<cmvr.api.DexhandCommand.FreedomState.Builder>
getHandsBuilderList() {
return getHandsFieldBuilder().getBuilderList();
}
private com.google.protobuf.RepeatedFieldBuilderV3<
cmvr.api.DexhandCommand.RH56DFTPDexHand, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder, cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder>
cmvr.api.DexhandCommand.FreedomState, cmvr.api.DexhandCommand.FreedomState.Builder, cmvr.api.DexhandCommand.FreedomStateOrBuilder>
getHandsFieldBuilder() {
if (handsBuilder_ == null) {
handsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
cmvr.api.DexhandCommand.RH56DFTPDexHand, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder, cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder>(
cmvr.api.DexhandCommand.FreedomState, cmvr.api.DexhandCommand.FreedomState.Builder, cmvr.api.DexhandCommand.FreedomStateOrBuilder>(
hands_,
((bitField0_ & 0x00000001) != 0),
getParentForChildren(),
@ -21035,10 +21035,10 @@ public final class DexhandCommand {
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internal_static_cmvr_api_FreedomValue_fieldAccessorTable;
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
internal_static_cmvr_api_FreedomState_descriptor;
private static final
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable;
internal_static_cmvr_api_FreedomState_fieldAccessorTable;
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_cmvr_api_SensorData_descriptor;
private static final
@ -21185,61 +21185,61 @@ public final class DexhandCommand {
java.lang.String[] descriptorData = {
"\n\036cmvr/api/dexhand_command.proto\022\010cmvr.a" +
"pi\032\025cmvr/api/common.proto\")\n\014FreedomValu" +
"e\022\n\n\002id\030\001 \001(\005\022\r\n\005value\030\002 \001(\002\"\254\001\n\017RH56DFT" +
"PDexHand\022\016\n\006dof_id\030\001 \001(\005\022\r\n\005angle\030\002 \001(\005\022" +
"\r\n\005speed\030\003 \001(\005\022\r\n\005force\030\004 \001(\005\022\020\n\010positio" +
"n\030\005 \001(\005\022\017\n\007current\030\006 \001(\005\022\023\n\013temperature\030" +
"\007 \001(\005\022\r\n\005error\030\010 \001(\005\022\025\n\rerror_message\030\t " +
"\003(\t\"\220\003\n\nSensorData\0224\n\013finger_type\030\004 \001(\0162" +
"\037.cmvr.api.SensorData.FingerType\0220\n\tpart" +
"_type\030\005 \001(\0162\035.cmvr.api.SensorData.PartTy" +
"pe\022\023\n\013sensor_name\030\006 \001(\t\022*\n\004data\030\001 \003(\0132\034." +
"cmvr.api.SensorData.RowData\022\014\n\004rows\030\002 \001(" +
"\005\022\014\n\004cols\030\003 \001(\005\032\035\n\007RowData\022\022\n\006values\030\001 \003" +
"(\005B\002\020\001\"T\n\nFingerType\022\t\n\005PINKY\020\000\022\010\n\004RING\020" +
"\001\022\021\n\rMIDDLE_FINGER\020\002\022\t\n\005INDEX\020\003\022\t\n\005THUMB" +
"\020\004\022\010\n\004PALM\020\005\"H\n\010PartType\022\007\n\003TIP\020\000\022\n\n\006FIN" +
"GER\020\001\022\007\n\003PAD\020\002\022\020\n\014THUMB_MIDDLE\020\003\022\014\n\010PALM" +
"_PAD\020\004\"P\n\014DexHandState\022\026\n\016is_initialized" +
"\030\001 \001(\010\022(\n\005hands\030\002 \003(\0132\031.cmvr.api.RH56DFT" +
"PDexHand\"\271\001\n\026GetDexHandStateCommand\032:\n\007R" +
"equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" +
"dHeader.Request\032c\n\010Feedback\0220\n\006header\030\001 " +
"\001(\0132 .cmvr.api.CommandHeader.Feedback\022%\n" +
"\005state\030\002 \001(\0132\026.cmvr.api.DexHandState\"\276\001\n" +
"\032SetDexHandPositionsCommand\032b\n\007Request\022/" +
"\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
"Request\022&\n\006values\030\002 \003(\0132\026.cmvr.api.Freed" +
"omValue\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
"vr.api.CommandHeader.Feedback\"\273\001\n\027SetDex" +
"HandAnglesCommand\032b\n\007Request\022/\n\006header\030\001" +
" \001(\0132\037.cmvr.api.CommandHeader.Request\022&\n" +
"\006values\030\002 \003(\0132\026.cmvr.api.FreedomValue\032<\n" +
"\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Com" +
"mandHeader.Feedback\"\272\001\n\026SetDexHandForceC" +
"ommand\032b\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr" +
".api.CommandHeader.Request\022&\n\006values\030\002 \003" +
"(\0132\026.cmvr.api.FreedomValue\032<\n\010Feedback\0220" +
"\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeader." +
"Feedback\"\272\001\n\026SetDexHandSpeedCommand\032b\n\007R" +
"equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" +
"dHeader.Request\022&\n\006values\030\002 \003(\0132\026.cmvr.a" +
"pi.FreedomValue\032<\n\010Feedback\0220\n\006header\030\001 " +
"\001(\0132 .cmvr.api.CommandHeader.Feedback\"\253\001" +
"\n\032SetDexHandPresetActCommand\032O\n\007Request\022" +
"/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader" +
".Request\022\023\n\013presetActId\030\002 \001(\005\032<\n\010Feedbac" +
"k\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHead" +
"er.Feedback\"\266\001\n\024GetSensorDataCommand\032:\n\007" +
"Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comma" +
"ndHeader.Request\032b\n\010Feedback\0220\n\006header\030\001" +
" \001(\0132 .cmvr.api.CommandHeader.Feedback\022$" +
"\n\006sensor\030\002 \003(\0132\024.cmvr.api.SensorData\"\274\001\n" +
"\032GetSensorDataStreamCommand\032:\n\007Request\022/" +
"\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
"Request\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
"vr.api.CommandHeader.Feedback\022$\n\006sensor\030" +
"\002 \003(\0132\024.cmvr.api.SensorDatab\006proto3"
"e\022\n\n\002id\030\001 \001(\005\022\r\n\005value\030\002 \001(\002\"\251\001\n\014Freedom" +
"State\022\016\n\006dof_id\030\001 \001(\005\022\r\n\005angle\030\002 \001(\005\022\r\n\005" +
"speed\030\003 \001(\005\022\r\n\005force\030\004 \001(\005\022\020\n\010position\030\005" +
" \001(\005\022\017\n\007current\030\006 \001(\005\022\023\n\013temperature\030\007 \001" +
"(\005\022\r\n\005error\030\010 \001(\005\022\025\n\rerror_message\030\t \003(\t" +
"\"\220\003\n\nSensorData\0224\n\013finger_type\030\004 \001(\0162\037.c" +
"mvr.api.SensorData.FingerType\0220\n\tpart_ty" +
"pe\030\005 \001(\0162\035.cmvr.api.SensorData.PartType\022" +
"\023\n\013sensor_name\030\006 \001(\t\022*\n\004data\030\001 \003(\0132\034.cmv" +
"r.api.SensorData.RowData\022\014\n\004rows\030\002 \001(\005\022\014" +
"\n\004cols\030\003 \001(\005\032\035\n\007RowData\022\022\n\006values\030\001 \003(\005B" +
"\002\020\001\"T\n\nFingerType\022\t\n\005PINKY\020\000\022\010\n\004RING\020\001\022\021" +
"\n\rMIDDLE_FINGER\020\002\022\t\n\005INDEX\020\003\022\t\n\005THUMB\020\004\022" +
"\010\n\004PALM\020\005\"H\n\010PartType\022\007\n\003TIP\020\000\022\n\n\006FINGER" +
"\020\001\022\007\n\003PAD\020\002\022\020\n\014THUMB_MIDDLE\020\003\022\014\n\010PALM_PA" +
"D\020\004\"M\n\014DexHandState\022\026\n\016is_initialized\030\001 " +
"\001(\010\022%\n\005hands\030\002 \003(\0132\026.cmvr.api.FreedomSta" +
"te\"\271\001\n\026GetDexHandStateCommand\032:\n\007Request" +
"\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
"r.Request\032c\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
"cmvr.api.CommandHeader.Feedback\022%\n\005state" +
"\030\002 \001(\0132\026.cmvr.api.DexHandState\"\276\001\n\032SetDe" +
"xHandPositionsCommand\032b\n\007Request\022/\n\006head" +
"er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
"t\022&\n\006values\030\002 \003(\0132\026.cmvr.api.FreedomValu" +
"e\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
".CommandHeader.Feedback\"\273\001\n\027SetDexHandAn" +
"glesCommand\032b\n\007Request\022/\n\006header\030\001 \001(\0132\037" +
".cmvr.api.CommandHeader.Request\022&\n\006value" +
"s\030\002 \003(\0132\026.cmvr.api.FreedomValue\032<\n\010Feedb" +
"ack\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHe" +
"ader.Feedback\"\272\001\n\026SetDexHandForceCommand" +
"\032b\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.C" +
"ommandHeader.Request\022&\n\006values\030\002 \003(\0132\026.c" +
"mvr.api.FreedomValue\032<\n\010Feedback\0220\n\006head" +
"er\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedba" +
"ck\"\272\001\n\026SetDexHandSpeedCommand\032b\n\007Request" +
"\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
"r.Request\022&\n\006values\030\002 \003(\0132\026.cmvr.api.Fre" +
"edomValue\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
"cmvr.api.CommandHeader.Feedback\"\253\001\n\032SetD" +
"exHandPresetActCommand\032O\n\007Request\022/\n\006hea" +
"der\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reque" +
"st\022\023\n\013presetActId\030\002 \001(\005\032<\n\010Feedback\0220\n\006h" +
"eader\030\001 \001(\0132 .cmvr.api.CommandHeader.Fee" +
"dback\"\266\001\n\024GetSensorDataCommand\032:\n\007Reques" +
"t\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHead" +
"er.Request\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 " +
".cmvr.api.CommandHeader.Feedback\022$\n\006sens" +
"or\030\002 \003(\0132\024.cmvr.api.SensorData\"\274\001\n\032GetSe" +
"nsorDataStreamCommand\032:\n\007Request\022/\n\006head" +
"er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
"t\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
".CommandHeader.Feedback\022$\n\006sensor\030\002 \003(\0132" +
"\024.cmvr.api.SensorDatab\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
@ -21252,11 +21252,11 @@ public final class DexhandCommand {
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
internal_static_cmvr_api_FreedomValue_descriptor,
new java.lang.String[] { "Id", "Value", });
internal_static_cmvr_api_RH56DFTPDexHand_descriptor =
internal_static_cmvr_api_FreedomState_descriptor =
getDescriptor().getMessageTypes().get(1);
internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable = new
internal_static_cmvr_api_FreedomState_fieldAccessorTable = new
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
internal_static_cmvr_api_RH56DFTPDexHand_descriptor,
internal_static_cmvr_api_FreedomState_descriptor,
new java.lang.String[] { "DofId", "Angle", "Speed", "Force", "Position", "Current", "Temperature", "Error", "ErrorMessage", });
internal_static_cmvr_api_SensorData_descriptor =
getDescriptor().getMessageTypes().get(2);

7139
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Geometry.java
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15606
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorCommand.java Normal file
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836
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceGrpc.java Normal file
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@ -0,0 +1,836 @@
package cmvr.api;
import static io.grpc.MethodDescriptor.generateFullMethodName;
/**
*/
@javax.annotation.Generated(
value = "by gRPC proto compiler (version 1.52.0)",
comments = "Source: cmvr/api/motor_service.proto")
@io.grpc.stub.annotations.GrpcGenerated
public final class MotorServiceGrpc {
private MotorServiceGrpc() {}
public static final String SERVICE_NAME = "cmvr.api.MotorService";
// Static method descriptors that strictly reflect the proto.
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.SetMotorZeroRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getSetZeroMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "setZero",
requestType = cmvr.api.MotorCommand.SetMotorZeroRequest.class,
responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.SetMotorZeroRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getSetZeroMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.SetMotorZeroRequest, cmvr.api.MotorCommand.MotorCommandResponse> getSetZeroMethod;
if ((getSetZeroMethod = MotorServiceGrpc.getSetZeroMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getSetZeroMethod = MotorServiceGrpc.getSetZeroMethod) == null) {
MotorServiceGrpc.getSetZeroMethod = getSetZeroMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.SetMotorZeroRequest, cmvr.api.MotorCommand.MotorCommandResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "setZero"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.SetMotorZeroRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("setZero"))
.build();
}
}
}
return getSetZeroMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.MoveMotorToZeroRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getMoveToZeroMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "moveToZero",
requestType = cmvr.api.MotorCommand.MoveMotorToZeroRequest.class,
responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.MoveMotorToZeroRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getMoveToZeroMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.MoveMotorToZeroRequest, cmvr.api.MotorCommand.MotorCommandResponse> getMoveToZeroMethod;
if ((getMoveToZeroMethod = MotorServiceGrpc.getMoveToZeroMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getMoveToZeroMethod = MotorServiceGrpc.getMoveToZeroMethod) == null) {
MotorServiceGrpc.getMoveToZeroMethod = getMoveToZeroMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.MoveMotorToZeroRequest, cmvr.api.MotorCommand.MotorCommandResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveToZero"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MoveMotorToZeroRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("moveToZero"))
.build();
}
}
}
return getMoveToZeroMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.ProfilePositionRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getProfilePositionMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "profilePosition",
requestType = cmvr.api.MotorCommand.ProfilePositionRequest.class,
responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.ProfilePositionRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getProfilePositionMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.ProfilePositionRequest, cmvr.api.MotorCommand.MotorCommandResponse> getProfilePositionMethod;
if ((getProfilePositionMethod = MotorServiceGrpc.getProfilePositionMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getProfilePositionMethod = MotorServiceGrpc.getProfilePositionMethod) == null) {
MotorServiceGrpc.getProfilePositionMethod = getProfilePositionMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.ProfilePositionRequest, cmvr.api.MotorCommand.MotorCommandResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "profilePosition"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.ProfilePositionRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("profilePosition"))
.build();
}
}
}
return getProfilePositionMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.ProfileVelocityRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getProfileVelocityMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "profileVelocity",
requestType = cmvr.api.MotorCommand.ProfileVelocityRequest.class,
responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.ProfileVelocityRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getProfileVelocityMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.ProfileVelocityRequest, cmvr.api.MotorCommand.MotorCommandResponse> getProfileVelocityMethod;
if ((getProfileVelocityMethod = MotorServiceGrpc.getProfileVelocityMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getProfileVelocityMethod = MotorServiceGrpc.getProfileVelocityMethod) == null) {
MotorServiceGrpc.getProfileVelocityMethod = getProfileVelocityMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.ProfileVelocityRequest, cmvr.api.MotorCommand.MotorCommandResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "profileVelocity"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.ProfileVelocityRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("profileVelocity"))
.build();
}
}
}
return getProfileVelocityMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.CyclicPositionRequest,
cmvr.api.MotorCommand.CyclicControlResponse> getStreamCyclicPositionMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "streamCyclicPosition",
requestType = cmvr.api.MotorCommand.CyclicPositionRequest.class,
responseType = cmvr.api.MotorCommand.CyclicControlResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.CyclicPositionRequest,
cmvr.api.MotorCommand.CyclicControlResponse> getStreamCyclicPositionMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.CyclicPositionRequest, cmvr.api.MotorCommand.CyclicControlResponse> getStreamCyclicPositionMethod;
if ((getStreamCyclicPositionMethod = MotorServiceGrpc.getStreamCyclicPositionMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getStreamCyclicPositionMethod = MotorServiceGrpc.getStreamCyclicPositionMethod) == null) {
MotorServiceGrpc.getStreamCyclicPositionMethod = getStreamCyclicPositionMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.CyclicPositionRequest, cmvr.api.MotorCommand.CyclicControlResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "streamCyclicPosition"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.CyclicPositionRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.CyclicControlResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("streamCyclicPosition"))
.build();
}
}
}
return getStreamCyclicPositionMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.CyclicVelocityRequest,
cmvr.api.MotorCommand.CyclicControlResponse> getStreamCyclicVelocityMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "streamCyclicVelocity",
requestType = cmvr.api.MotorCommand.CyclicVelocityRequest.class,
responseType = cmvr.api.MotorCommand.CyclicControlResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.CyclicVelocityRequest,
cmvr.api.MotorCommand.CyclicControlResponse> getStreamCyclicVelocityMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.CyclicVelocityRequest, cmvr.api.MotorCommand.CyclicControlResponse> getStreamCyclicVelocityMethod;
if ((getStreamCyclicVelocityMethod = MotorServiceGrpc.getStreamCyclicVelocityMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getStreamCyclicVelocityMethod = MotorServiceGrpc.getStreamCyclicVelocityMethod) == null) {
MotorServiceGrpc.getStreamCyclicVelocityMethod = getStreamCyclicVelocityMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.CyclicVelocityRequest, cmvr.api.MotorCommand.CyclicControlResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "streamCyclicVelocity"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.CyclicVelocityRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.CyclicControlResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("streamCyclicVelocity"))
.build();
}
}
}
return getStreamCyclicVelocityMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.EmergencyStopRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getEmergencyStopMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "emergencyStop",
requestType = cmvr.api.MotorCommand.EmergencyStopRequest.class,
responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.EmergencyStopRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getEmergencyStopMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.EmergencyStopRequest, cmvr.api.MotorCommand.MotorCommandResponse> getEmergencyStopMethod;
if ((getEmergencyStopMethod = MotorServiceGrpc.getEmergencyStopMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getEmergencyStopMethod = MotorServiceGrpc.getEmergencyStopMethod) == null) {
MotorServiceGrpc.getEmergencyStopMethod = getEmergencyStopMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.EmergencyStopRequest, cmvr.api.MotorCommand.MotorCommandResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "emergencyStop"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.EmergencyStopRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("emergencyStop"))
.build();
}
}
}
return getEmergencyStopMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.GetMotorStatusRequest,
cmvr.api.MotorCommand.GetMotorStatusResponse> getGetStatusMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "getStatus",
requestType = cmvr.api.MotorCommand.GetMotorStatusRequest.class,
responseType = cmvr.api.MotorCommand.GetMotorStatusResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.GetMotorStatusRequest,
cmvr.api.MotorCommand.GetMotorStatusResponse> getGetStatusMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.GetMotorStatusRequest, cmvr.api.MotorCommand.GetMotorStatusResponse> getGetStatusMethod;
if ((getGetStatusMethod = MotorServiceGrpc.getGetStatusMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getGetStatusMethod = MotorServiceGrpc.getGetStatusMethod) == null) {
MotorServiceGrpc.getGetStatusMethod = getGetStatusMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.GetMotorStatusRequest, cmvr.api.MotorCommand.GetMotorStatusResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "getStatus"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.GetMotorStatusRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.GetMotorStatusResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("getStatus"))
.build();
}
}
}
return getGetStatusMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.MotorCommand.SetMotorEnabledRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getSetEnabledMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "setEnabled",
requestType = cmvr.api.MotorCommand.SetMotorEnabledRequest.class,
responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.MotorCommand.SetMotorEnabledRequest,
cmvr.api.MotorCommand.MotorCommandResponse> getSetEnabledMethod() {
io.grpc.MethodDescriptor<cmvr.api.MotorCommand.SetMotorEnabledRequest, cmvr.api.MotorCommand.MotorCommandResponse> getSetEnabledMethod;
if ((getSetEnabledMethod = MotorServiceGrpc.getSetEnabledMethod) == null) {
synchronized (MotorServiceGrpc.class) {
if ((getSetEnabledMethod = MotorServiceGrpc.getSetEnabledMethod) == null) {
MotorServiceGrpc.getSetEnabledMethod = getSetEnabledMethod =
io.grpc.MethodDescriptor.<cmvr.api.MotorCommand.SetMotorEnabledRequest, cmvr.api.MotorCommand.MotorCommandResponse>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "setEnabled"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.SetMotorEnabledRequest.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
.setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("setEnabled"))
.build();
}
}
}
return getSetEnabledMethod;
}
/**
* Creates a new async stub that supports all call types for the service
*/
public static MotorServiceStub newStub(io.grpc.Channel channel) {
io.grpc.stub.AbstractStub.StubFactory<MotorServiceStub> factory =
new io.grpc.stub.AbstractStub.StubFactory<MotorServiceStub>() {
@java.lang.Override
public MotorServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new MotorServiceStub(channel, callOptions);
}
};
return MotorServiceStub.newStub(factory, channel);
}
/**
* Creates a new blocking-style stub that supports unary and streaming output calls on the service
*/
public static MotorServiceBlockingStub newBlockingStub(
io.grpc.Channel channel) {
io.grpc.stub.AbstractStub.StubFactory<MotorServiceBlockingStub> factory =
new io.grpc.stub.AbstractStub.StubFactory<MotorServiceBlockingStub>() {
@java.lang.Override
public MotorServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new MotorServiceBlockingStub(channel, callOptions);
}
};
return MotorServiceBlockingStub.newStub(factory, channel);
}
/**
* Creates a new ListenableFuture-style stub that supports unary calls on the service
*/
public static MotorServiceFutureStub newFutureStub(
io.grpc.Channel channel) {
io.grpc.stub.AbstractStub.StubFactory<MotorServiceFutureStub> factory =
new io.grpc.stub.AbstractStub.StubFactory<MotorServiceFutureStub>() {
@java.lang.Override
public MotorServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new MotorServiceFutureStub(channel, callOptions);
}
};
return MotorServiceFutureStub.newStub(factory, channel);
}
/**
*/
public static abstract class MotorServiceImplBase implements io.grpc.BindableService {
/**
*/
public void setZero(cmvr.api.MotorCommand.SetMotorZeroRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSetZeroMethod(), responseObserver);
}
/**
*/
public void moveToZero(cmvr.api.MotorCommand.MoveMotorToZeroRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveToZeroMethod(), responseObserver);
}
/**
*/
public void profilePosition(cmvr.api.MotorCommand.ProfilePositionRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getProfilePositionMethod(), responseObserver);
}
/**
*/
public void profileVelocity(cmvr.api.MotorCommand.ProfileVelocityRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getProfileVelocityMethod(), responseObserver);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicPositionRequest> streamCyclicPosition(
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicControlResponse> responseObserver) {
return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getStreamCyclicPositionMethod(), responseObserver);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicVelocityRequest> streamCyclicVelocity(
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicControlResponse> responseObserver) {
return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getStreamCyclicVelocityMethod(), responseObserver);
}
/**
*/
public void emergencyStop(cmvr.api.MotorCommand.EmergencyStopRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getEmergencyStopMethod(), responseObserver);
}
/**
*/
public void getStatus(cmvr.api.MotorCommand.GetMotorStatusRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.GetMotorStatusResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
}
/**
*/
public void setEnabled(cmvr.api.MotorCommand.SetMotorEnabledRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSetEnabledMethod(), responseObserver);
}
@java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
.addMethod(
getSetZeroMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.SetMotorZeroRequest,
cmvr.api.MotorCommand.MotorCommandResponse>(
this, METHODID_SET_ZERO)))
.addMethod(
getMoveToZeroMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.MoveMotorToZeroRequest,
cmvr.api.MotorCommand.MotorCommandResponse>(
this, METHODID_MOVE_TO_ZERO)))
.addMethod(
getProfilePositionMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.ProfilePositionRequest,
cmvr.api.MotorCommand.MotorCommandResponse>(
this, METHODID_PROFILE_POSITION)))
.addMethod(
getProfileVelocityMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.ProfileVelocityRequest,
cmvr.api.MotorCommand.MotorCommandResponse>(
this, METHODID_PROFILE_VELOCITY)))
.addMethod(
getStreamCyclicPositionMethod(),
io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
new MethodHandlers<
cmvr.api.MotorCommand.CyclicPositionRequest,
cmvr.api.MotorCommand.CyclicControlResponse>(
this, METHODID_STREAM_CYCLIC_POSITION)))
.addMethod(
getStreamCyclicVelocityMethod(),
io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
new MethodHandlers<
cmvr.api.MotorCommand.CyclicVelocityRequest,
cmvr.api.MotorCommand.CyclicControlResponse>(
this, METHODID_STREAM_CYCLIC_VELOCITY)))
.addMethod(
getEmergencyStopMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.EmergencyStopRequest,
cmvr.api.MotorCommand.MotorCommandResponse>(
this, METHODID_EMERGENCY_STOP)))
.addMethod(
getGetStatusMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.GetMotorStatusRequest,
cmvr.api.MotorCommand.GetMotorStatusResponse>(
this, METHODID_GET_STATUS)))
.addMethod(
getSetEnabledMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.MotorCommand.SetMotorEnabledRequest,
cmvr.api.MotorCommand.MotorCommandResponse>(
this, METHODID_SET_ENABLED)))
.build();
}
}
/**
*/
public static final class MotorServiceStub extends io.grpc.stub.AbstractAsyncStub<MotorServiceStub> {
private MotorServiceStub(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
super(channel, callOptions);
}
@java.lang.Override
protected MotorServiceStub build(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new MotorServiceStub(channel, callOptions);
}
/**
*/
public void setZero(cmvr.api.MotorCommand.SetMotorZeroRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getSetZeroMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void moveToZero(cmvr.api.MotorCommand.MoveMotorToZeroRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getMoveToZeroMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void profilePosition(cmvr.api.MotorCommand.ProfilePositionRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getProfilePositionMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void profileVelocity(cmvr.api.MotorCommand.ProfileVelocityRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getProfileVelocityMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicPositionRequest> streamCyclicPosition(
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicControlResponse> responseObserver) {
return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
getChannel().newCall(getStreamCyclicPositionMethod(), getCallOptions()), responseObserver);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicVelocityRequest> streamCyclicVelocity(
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicControlResponse> responseObserver) {
return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
getChannel().newCall(getStreamCyclicVelocityMethod(), getCallOptions()), responseObserver);
}
/**
*/
public void emergencyStop(cmvr.api.MotorCommand.EmergencyStopRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void getStatus(cmvr.api.MotorCommand.GetMotorStatusRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.GetMotorStatusResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void setEnabled(cmvr.api.MotorCommand.SetMotorEnabledRequest request,
io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getSetEnabledMethod(), getCallOptions()), request, responseObserver);
}
}
/**
*/
public static final class MotorServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<MotorServiceBlockingStub> {
private MotorServiceBlockingStub(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
super(channel, callOptions);
}
@java.lang.Override
protected MotorServiceBlockingStub build(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new MotorServiceBlockingStub(channel, callOptions);
}
/**
*/
public cmvr.api.MotorCommand.MotorCommandResponse setZero(cmvr.api.MotorCommand.SetMotorZeroRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getSetZeroMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.MotorCommand.MotorCommandResponse moveToZero(cmvr.api.MotorCommand.MoveMotorToZeroRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getMoveToZeroMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.MotorCommand.MotorCommandResponse profilePosition(cmvr.api.MotorCommand.ProfilePositionRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getProfilePositionMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.MotorCommand.MotorCommandResponse profileVelocity(cmvr.api.MotorCommand.ProfileVelocityRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getProfileVelocityMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.MotorCommand.MotorCommandResponse emergencyStop(cmvr.api.MotorCommand.EmergencyStopRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getEmergencyStopMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.MotorCommand.GetMotorStatusResponse getStatus(cmvr.api.MotorCommand.GetMotorStatusRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getGetStatusMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.MotorCommand.MotorCommandResponse setEnabled(cmvr.api.MotorCommand.SetMotorEnabledRequest request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getSetEnabledMethod(), getCallOptions(), request);
}
}
/**
*/
public static final class MotorServiceFutureStub extends io.grpc.stub.AbstractFutureStub<MotorServiceFutureStub> {
private MotorServiceFutureStub(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
super(channel, callOptions);
}
@java.lang.Override
protected MotorServiceFutureStub build(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new MotorServiceFutureStub(channel, callOptions);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.MotorCommandResponse> setZero(
cmvr.api.MotorCommand.SetMotorZeroRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getSetZeroMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.MotorCommandResponse> moveToZero(
cmvr.api.MotorCommand.MoveMotorToZeroRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getMoveToZeroMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.MotorCommandResponse> profilePosition(
cmvr.api.MotorCommand.ProfilePositionRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getProfilePositionMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.MotorCommandResponse> profileVelocity(
cmvr.api.MotorCommand.ProfileVelocityRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getProfileVelocityMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.MotorCommandResponse> emergencyStop(
cmvr.api.MotorCommand.EmergencyStopRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.GetMotorStatusResponse> getStatus(
cmvr.api.MotorCommand.GetMotorStatusRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.MotorCommand.MotorCommandResponse> setEnabled(
cmvr.api.MotorCommand.SetMotorEnabledRequest request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getSetEnabledMethod(), getCallOptions()), request);
}
}
private static final int METHODID_SET_ZERO = 0;
private static final int METHODID_MOVE_TO_ZERO = 1;
private static final int METHODID_PROFILE_POSITION = 2;
private static final int METHODID_PROFILE_VELOCITY = 3;
private static final int METHODID_EMERGENCY_STOP = 4;
private static final int METHODID_GET_STATUS = 5;
private static final int METHODID_SET_ENABLED = 6;
private static final int METHODID_STREAM_CYCLIC_POSITION = 7;
private static final int METHODID_STREAM_CYCLIC_VELOCITY = 8;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
private final MotorServiceImplBase serviceImpl;
private final int methodId;
MethodHandlers(MotorServiceImplBase serviceImpl, int methodId) {
this.serviceImpl = serviceImpl;
this.methodId = methodId;
}
@java.lang.Override
@java.lang.SuppressWarnings("unchecked")
public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
switch (methodId) {
case METHODID_SET_ZERO:
serviceImpl.setZero((cmvr.api.MotorCommand.SetMotorZeroRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse>) responseObserver);
break;
case METHODID_MOVE_TO_ZERO:
serviceImpl.moveToZero((cmvr.api.MotorCommand.MoveMotorToZeroRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse>) responseObserver);
break;
case METHODID_PROFILE_POSITION:
serviceImpl.profilePosition((cmvr.api.MotorCommand.ProfilePositionRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse>) responseObserver);
break;
case METHODID_PROFILE_VELOCITY:
serviceImpl.profileVelocity((cmvr.api.MotorCommand.ProfileVelocityRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse>) responseObserver);
break;
case METHODID_EMERGENCY_STOP:
serviceImpl.emergencyStop((cmvr.api.MotorCommand.EmergencyStopRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse>) responseObserver);
break;
case METHODID_GET_STATUS:
serviceImpl.getStatus((cmvr.api.MotorCommand.GetMotorStatusRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.GetMotorStatusResponse>) responseObserver);
break;
case METHODID_SET_ENABLED:
serviceImpl.setEnabled((cmvr.api.MotorCommand.SetMotorEnabledRequest) request,
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.MotorCommandResponse>) responseObserver);
break;
default:
throw new AssertionError();
}
}
@java.lang.Override
@java.lang.SuppressWarnings("unchecked")
public io.grpc.stub.StreamObserver<Req> invoke(
io.grpc.stub.StreamObserver<Resp> responseObserver) {
switch (methodId) {
case METHODID_STREAM_CYCLIC_POSITION:
return (io.grpc.stub.StreamObserver<Req>) serviceImpl.streamCyclicPosition(
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicControlResponse>) responseObserver);
case METHODID_STREAM_CYCLIC_VELOCITY:
return (io.grpc.stub.StreamObserver<Req>) serviceImpl.streamCyclicVelocity(
(io.grpc.stub.StreamObserver<cmvr.api.MotorCommand.CyclicControlResponse>) responseObserver);
default:
throw new AssertionError();
}
}
}
private static abstract class MotorServiceBaseDescriptorSupplier
implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
MotorServiceBaseDescriptorSupplier() {}
@java.lang.Override
public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
return cmvr.api.MotorServiceOuterClass.getDescriptor();
}
@java.lang.Override
public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
return getFileDescriptor().findServiceByName("MotorService");
}
}
private static final class MotorServiceFileDescriptorSupplier
extends MotorServiceBaseDescriptorSupplier {
MotorServiceFileDescriptorSupplier() {}
}
private static final class MotorServiceMethodDescriptorSupplier
extends MotorServiceBaseDescriptorSupplier
implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
private final String methodName;
MotorServiceMethodDescriptorSupplier(String methodName) {
this.methodName = methodName;
}
@java.lang.Override
public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
return getServiceDescriptor().findMethodByName(methodName);
}
}
private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
public static io.grpc.ServiceDescriptor getServiceDescriptor() {
io.grpc.ServiceDescriptor result = serviceDescriptor;
if (result == null) {
synchronized (MotorServiceGrpc.class) {
result = serviceDescriptor;
if (result == null) {
serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
.setSchemaDescriptor(new MotorServiceFileDescriptorSupplier())
.addMethod(getSetZeroMethod())
.addMethod(getMoveToZeroMethod())
.addMethod(getProfilePositionMethod())
.addMethod(getProfileVelocityMethod())
.addMethod(getStreamCyclicPositionMethod())
.addMethod(getStreamCyclicVelocityMethod())
.addMethod(getEmergencyStopMethod())
.addMethod(getGetStatusMethod())
.addMethod(getSetEnabledMethod())
.build();
}
}
}
return result;
}
}

58
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceOuterClass.java Normal file
View File

@ -0,0 +1,58 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: cmvr/api/motor_service.proto
package cmvr.api;
public final class MotorServiceOuterClass {
private MotorServiceOuterClass() {}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistryLite registry) {
}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistry registry) {
registerAllExtensions(
(com.google.protobuf.ExtensionRegistryLite) registry);
}
public static com.google.protobuf.Descriptors.FileDescriptor
getDescriptor() {
return descriptor;
}
private static com.google.protobuf.Descriptors.FileDescriptor
descriptor;
static {
java.lang.String[] descriptorData = {
"\n\034cmvr/api/motor_service.proto\022\010cmvr.api" +
"\032\034cmvr/api/motor_command.proto2\377\005\n\014Motor" +
"Service\022H\n\007setZero\022\035.cmvr.api.SetMotorZe" +
"roRequest\032\036.cmvr.api.MotorCommandRespons" +
"e\022N\n\nmoveToZero\022 .cmvr.api.MoveMotorToZe" +
"roRequest\032\036.cmvr.api.MotorCommandRespons" +
"e\022S\n\017profilePosition\022 .cmvr.api.ProfileP" +
"ositionRequest\032\036.cmvr.api.MotorCommandRe" +
"sponse\022S\n\017profileVelocity\022 .cmvr.api.Pro" +
"fileVelocityRequest\032\036.cmvr.api.MotorComm" +
"andResponse\022\\\n\024streamCyclicPosition\022\037.cm" +
"vr.api.CyclicPositionRequest\032\037.cmvr.api." +
"CyclicControlResponse(\0010\001\022\\\n\024streamCycli" +
"cVelocity\022\037.cmvr.api.CyclicVelocityReque" +
"st\032\037.cmvr.api.CyclicControlResponse(\0010\001\022" +
"O\n\remergencyStop\022\036.cmvr.api.EmergencySto" +
"pRequest\032\036.cmvr.api.MotorCommandResponse" +
"\022N\n\tgetStatus\022\037.cmvr.api.GetMotorStatusR" +
"equest\032 .cmvr.api.GetMotorStatusResponse" +
"\022N\n\nsetEnabled\022 .cmvr.api.SetMotorEnable" +
"dRequest\032\036.cmvr.api.MotorCommandResponse" +
"b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
cmvr.api.MotorCommand.getDescriptor(),
});
cmvr.api.MotorCommand.getDescriptor();
}
// @@protoc_insertion_point(outer_class_scope)
}

76
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java
View File

@ -108,6 +108,37 @@ public final class SystemServiceGrpc {
return getUpdateParamsMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.JsonDeviceCommand.Request,
cmvr.api.Common.JsonDeviceCommand.Feedback> getExecuteJsonCommandMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "ExecuteJsonCommand",
requestType = cmvr.api.Common.JsonDeviceCommand.Request.class,
responseType = cmvr.api.Common.JsonDeviceCommand.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.Common.JsonDeviceCommand.Request,
cmvr.api.Common.JsonDeviceCommand.Feedback> getExecuteJsonCommandMethod() {
io.grpc.MethodDescriptor<cmvr.api.Common.JsonDeviceCommand.Request, cmvr.api.Common.JsonDeviceCommand.Feedback> getExecuteJsonCommandMethod;
if ((getExecuteJsonCommandMethod = SystemServiceGrpc.getExecuteJsonCommandMethod) == null) {
synchronized (SystemServiceGrpc.class) {
if ((getExecuteJsonCommandMethod = SystemServiceGrpc.getExecuteJsonCommandMethod) == null) {
SystemServiceGrpc.getExecuteJsonCommandMethod = getExecuteJsonCommandMethod =
io.grpc.MethodDescriptor.<cmvr.api.Common.JsonDeviceCommand.Request, cmvr.api.Common.JsonDeviceCommand.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "ExecuteJsonCommand"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.Common.JsonDeviceCommand.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.Common.JsonDeviceCommand.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new SystemServiceMethodDescriptorSupplier("ExecuteJsonCommand"))
.build();
}
}
}
return getExecuteJsonCommandMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.SystemCommand.StopAllCommand.Request,
cmvr.api.SystemCommand.StopAllCommand.Feedback> getStopAllMethod;
@ -208,6 +239,13 @@ public final class SystemServiceGrpc {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getUpdateParamsMethod(), responseObserver);
}
/**
*/
public void executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.Common.JsonDeviceCommand.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getExecuteJsonCommandMethod(), responseObserver);
}
/**
*/
public void stopAll(cmvr.api.SystemCommand.StopAllCommand.Request request,
@ -238,6 +276,13 @@ public final class SystemServiceGrpc {
cmvr.api.SystemCommand.UpdateParamsCommand.Request,
cmvr.api.SystemCommand.UpdateParamsCommand.Feedback>(
this, METHODID_UPDATE_PARAMS)))
.addMethod(
getExecuteJsonCommandMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.Common.JsonDeviceCommand.Request,
cmvr.api.Common.JsonDeviceCommand.Feedback>(
this, METHODID_EXECUTE_JSON_COMMAND)))
.addMethod(
getStopAllMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
@ -287,6 +332,14 @@ public final class SystemServiceGrpc {
getChannel().newCall(getUpdateParamsMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.Common.JsonDeviceCommand.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getExecuteJsonCommandMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void stopAll(cmvr.api.SystemCommand.StopAllCommand.Request request,
@ -331,6 +384,13 @@ public final class SystemServiceGrpc {
getChannel(), getUpdateParamsMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.Common.JsonDeviceCommand.Feedback executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getExecuteJsonCommandMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.SystemCommand.StopAllCommand.Feedback stopAll(cmvr.api.SystemCommand.StopAllCommand.Request request) {
@ -377,6 +437,14 @@ public final class SystemServiceGrpc {
getChannel().newCall(getUpdateParamsMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.JsonDeviceCommand.Feedback> executeJsonCommand(
cmvr.api.Common.JsonDeviceCommand.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getExecuteJsonCommandMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.SystemCommand.StopAllCommand.Feedback> stopAll(
@ -389,7 +457,8 @@ public final class SystemServiceGrpc {
private static final int METHODID_GET_SYSTEM_INFO = 0;
private static final int METHODID_GET_SYSTEM_STATUS = 1;
private static final int METHODID_UPDATE_PARAMS = 2;
private static final int METHODID_STOP_ALL = 3;
private static final int METHODID_EXECUTE_JSON_COMMAND = 3;
private static final int METHODID_STOP_ALL = 4;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@ -420,6 +489,10 @@ public final class SystemServiceGrpc {
serviceImpl.updateParams((cmvr.api.SystemCommand.UpdateParamsCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.UpdateParamsCommand.Feedback>) responseObserver);
break;
case METHODID_EXECUTE_JSON_COMMAND:
serviceImpl.executeJsonCommand((cmvr.api.Common.JsonDeviceCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.Common.JsonDeviceCommand.Feedback>) responseObserver);
break;
case METHODID_STOP_ALL:
serviceImpl.stopAll((cmvr.api.SystemCommand.StopAllCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.StopAllCommand.Feedback>) responseObserver);
@ -488,6 +561,7 @@ public final class SystemServiceGrpc {
.addMethod(getGetSystemInfoMethod())
.addMethod(getGetSystemStatusMethod())
.addMethod(getUpdateParamsMethod())
.addMethod(getExecuteJsonCommandMethod())
.addMethod(getStopAllMethod())
.build();
}

29
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java
View File

@ -24,24 +24,29 @@ public final class SystemServiceOuterClass {
static {
java.lang.String[] descriptorData = {
"\n\035cmvr/api/system_service.proto\022\010cmvr.ap" +
"i\032\035cmvr/api/system_command.proto2\220\003\n\rSys" +
"temService\022b\n\rGetSystemInfo\022&.cmvr.api.G" +
"etSystemInfoCommand.Request\032\'.cmvr.api.G" +
"etSystemInfoCommand.Feedback\"\000\022h\n\017GetSys" +
"temStatus\022(.cmvr.api.GetSystemStatusComm" +
"and.Request\032).cmvr.api.GetSystemStatusCo" +
"mmand.Feedback\"\000\022_\n\014UpdateParams\022%.cmvr." +
"api.UpdateParamsCommand.Request\032&.cmvr.a" +
"pi.UpdateParamsCommand.Feedback\"\000\022P\n\007Sto" +
"pAll\022 .cmvr.api.StopAllCommand.Request\032!" +
".cmvr.api.StopAllCommand.Feedback\"\000b\006pro" +
"to3"
"i\032\025cmvr/api/common.proto\032\035cmvr/api/syste" +
"m_command.proto2\363\003\n\rSystemService\022b\n\rGet" +
"SystemInfo\022&.cmvr.api.GetSystemInfoComma" +
"nd.Request\032\'.cmvr.api.GetSystemInfoComma" +
"nd.Feedback\"\000\022h\n\017GetSystemStatus\022(.cmvr." +
"api.GetSystemStatusCommand.Request\032).cmv" +
"r.api.GetSystemStatusCommand.Feedback\"\000\022" +
"_\n\014UpdateParams\022%.cmvr.api.UpdateParamsC" +
"ommand.Request\032&.cmvr.api.UpdateParamsCo" +
"mmand.Feedback\"\000\022a\n\022ExecuteJsonCommand\022#" +
".cmvr.api.JsonDeviceCommand.Request\032$.cm" +
"vr.api.JsonDeviceCommand.Feedback\"\000\022P\n\007S" +
"topAll\022 .cmvr.api.StopAllCommand.Request" +
"\032!.cmvr.api.StopAllCommand.Feedback\"\000b\006p" +
"roto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
cmvr.api.Common.getDescriptor(),
cmvr.api.SystemCommand.getDescriptor(),
});
cmvr.api.Common.getDescriptor();
cmvr.api.SystemCommand.getDescriptor();
}

280
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopServiceGrpc.java Normal file
View File

@ -0,0 +1,280 @@
package cmvr.api.armteleop.v1;
import static io.grpc.MethodDescriptor.generateFullMethodName;
/**
* <pre>
* Versioned, session-oriented protocol for wired arm teleoperation. Existing
* unary ArmService RPCs intentionally remain unchanged.
* </pre>
*/
@javax.annotation.Generated(
value = "by gRPC proto compiler (version 1.52.0)",
comments = "Source: cmvr/api/arm_teleop_v1.proto")
@io.grpc.stub.annotations.GrpcGenerated
public final class ArmTeleopServiceGrpc {
private ArmTeleopServiceGrpc() {}
public static final String SERVICE_NAME = "cmvr.api.armteleop.v1.ArmTeleopService";
// Static method descriptors that strictly reflect the proto.
private static volatile io.grpc.MethodDescriptor<cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame,
cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame> getTeleoperateMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "Teleoperate",
requestType = cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.class,
responseType = cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.class,
methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
public static io.grpc.MethodDescriptor<cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame,
cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame> getTeleoperateMethod() {
io.grpc.MethodDescriptor<cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame, cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame> getTeleoperateMethod;
if ((getTeleoperateMethod = ArmTeleopServiceGrpc.getTeleoperateMethod) == null) {
synchronized (ArmTeleopServiceGrpc.class) {
if ((getTeleoperateMethod = ArmTeleopServiceGrpc.getTeleoperateMethod) == null) {
ArmTeleopServiceGrpc.getTeleoperateMethod = getTeleoperateMethod =
io.grpc.MethodDescriptor.<cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame, cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "Teleoperate"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.getDefaultInstance()))
.setSchemaDescriptor(new ArmTeleopServiceMethodDescriptorSupplier("Teleoperate"))
.build();
}
}
}
return getTeleoperateMethod;
}
/**
* Creates a new async stub that supports all call types for the service
*/
public static ArmTeleopServiceStub newStub(io.grpc.Channel channel) {
io.grpc.stub.AbstractStub.StubFactory<ArmTeleopServiceStub> factory =
new io.grpc.stub.AbstractStub.StubFactory<ArmTeleopServiceStub>() {
@java.lang.Override
public ArmTeleopServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new ArmTeleopServiceStub(channel, callOptions);
}
};
return ArmTeleopServiceStub.newStub(factory, channel);
}
/**
* Creates a new blocking-style stub that supports unary and streaming output calls on the service
*/
public static ArmTeleopServiceBlockingStub newBlockingStub(
io.grpc.Channel channel) {
io.grpc.stub.AbstractStub.StubFactory<ArmTeleopServiceBlockingStub> factory =
new io.grpc.stub.AbstractStub.StubFactory<ArmTeleopServiceBlockingStub>() {
@java.lang.Override
public ArmTeleopServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new ArmTeleopServiceBlockingStub(channel, callOptions);
}
};
return ArmTeleopServiceBlockingStub.newStub(factory, channel);
}
/**
* Creates a new ListenableFuture-style stub that supports unary calls on the service
*/
public static ArmTeleopServiceFutureStub newFutureStub(
io.grpc.Channel channel) {
io.grpc.stub.AbstractStub.StubFactory<ArmTeleopServiceFutureStub> factory =
new io.grpc.stub.AbstractStub.StubFactory<ArmTeleopServiceFutureStub>() {
@java.lang.Override
public ArmTeleopServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new ArmTeleopServiceFutureStub(channel, callOptions);
}
};
return ArmTeleopServiceFutureStub.newStub(factory, channel);
}
/**
* <pre>
* Versioned, session-oriented protocol for wired arm teleoperation. Existing
* unary ArmService RPCs intentionally remain unchanged.
* </pre>
*/
public static abstract class ArmTeleopServiceImplBase implements io.grpc.BindableService {
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame> teleoperate(
io.grpc.stub.StreamObserver<cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame> responseObserver) {
return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getTeleoperateMethod(), responseObserver);
}
@java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
.addMethod(
getTeleoperateMethod(),
io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
new MethodHandlers<
cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame,
cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame>(
this, METHODID_TELEOPERATE)))
.build();
}
}
/**
* <pre>
* Versioned, session-oriented protocol for wired arm teleoperation. Existing
* unary ArmService RPCs intentionally remain unchanged.
* </pre>
*/
public static final class ArmTeleopServiceStub extends io.grpc.stub.AbstractAsyncStub<ArmTeleopServiceStub> {
private ArmTeleopServiceStub(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
super(channel, callOptions);
}
@java.lang.Override
protected ArmTeleopServiceStub build(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new ArmTeleopServiceStub(channel, callOptions);
}
/**
*/
public io.grpc.stub.StreamObserver<cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame> teleoperate(
io.grpc.stub.StreamObserver<cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame> responseObserver) {
return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
getChannel().newCall(getTeleoperateMethod(), getCallOptions()), responseObserver);
}
}
/**
* <pre>
* Versioned, session-oriented protocol for wired arm teleoperation. Existing
* unary ArmService RPCs intentionally remain unchanged.
* </pre>
*/
public static final class ArmTeleopServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<ArmTeleopServiceBlockingStub> {
private ArmTeleopServiceBlockingStub(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
super(channel, callOptions);
}
@java.lang.Override
protected ArmTeleopServiceBlockingStub build(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new ArmTeleopServiceBlockingStub(channel, callOptions);
}
}
/**
* <pre>
* Versioned, session-oriented protocol for wired arm teleoperation. Existing
* unary ArmService RPCs intentionally remain unchanged.
* </pre>
*/
public static final class ArmTeleopServiceFutureStub extends io.grpc.stub.AbstractFutureStub<ArmTeleopServiceFutureStub> {
private ArmTeleopServiceFutureStub(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
super(channel, callOptions);
}
@java.lang.Override
protected ArmTeleopServiceFutureStub build(
io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
return new ArmTeleopServiceFutureStub(channel, callOptions);
}
}
private static final int METHODID_TELEOPERATE = 0;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
private final ArmTeleopServiceImplBase serviceImpl;
private final int methodId;
MethodHandlers(ArmTeleopServiceImplBase serviceImpl, int methodId) {
this.serviceImpl = serviceImpl;
this.methodId = methodId;
}
@java.lang.Override
@java.lang.SuppressWarnings("unchecked")
public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
switch (methodId) {
default:
throw new AssertionError();
}
}
@java.lang.Override
@java.lang.SuppressWarnings("unchecked")
public io.grpc.stub.StreamObserver<Req> invoke(
io.grpc.stub.StreamObserver<Resp> responseObserver) {
switch (methodId) {
case METHODID_TELEOPERATE:
return (io.grpc.stub.StreamObserver<Req>) serviceImpl.teleoperate(
(io.grpc.stub.StreamObserver<cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame>) responseObserver);
default:
throw new AssertionError();
}
}
}
private static abstract class ArmTeleopServiceBaseDescriptorSupplier
implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
ArmTeleopServiceBaseDescriptorSupplier() {}
@java.lang.Override
public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
return cmvr.api.armteleop.v1.ArmTeleopV1.getDescriptor();
}
@java.lang.Override
public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
return getFileDescriptor().findServiceByName("ArmTeleopService");
}
}
private static final class ArmTeleopServiceFileDescriptorSupplier
extends ArmTeleopServiceBaseDescriptorSupplier {
ArmTeleopServiceFileDescriptorSupplier() {}
}
private static final class ArmTeleopServiceMethodDescriptorSupplier
extends ArmTeleopServiceBaseDescriptorSupplier
implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
private final String methodName;
ArmTeleopServiceMethodDescriptorSupplier(String methodName) {
this.methodName = methodName;
}
@java.lang.Override
public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
return getServiceDescriptor().findMethodByName(methodName);
}
}
private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
public static io.grpc.ServiceDescriptor getServiceDescriptor() {
io.grpc.ServiceDescriptor result = serviceDescriptor;
if (result == null) {
synchronized (ArmTeleopServiceGrpc.class) {
result = serviceDescriptor;
if (result == null) {
serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
.setSchemaDescriptor(new ArmTeleopServiceFileDescriptorSupplier())
.addMethod(getTeleoperateMethod())
.build();
}
}
}
return result;
}
}

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cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Agv.java → cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/AgvUtils.java
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cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Cia402.java Normal file
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@ -0,0 +1,586 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: cmvr/msgs/cia402.proto
package cmvr.msgs;
public final class Cia402 {
private Cia402() {}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistryLite registry) {
}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistry registry) {
registerAllExtensions(
(com.google.protobuf.ExtensionRegistryLite) registry);
}
/**
* <pre>
* CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
* </pre>
*
* Protobuf enum {@code cmvr.msgs.Cia402ObjectIndex}
*/
public enum Cia402ObjectIndex
implements com.google.protobuf.ProtocolMessageEnum {
/**
* <code>CIA402_OBJECT_INDEX_ZERO = 0;</code>
*/
CIA402_OBJECT_INDEX_ZERO(0),
/**
* <code>CIA402_ERROR_CODE_603F = 24639;</code>
*/
CIA402_ERROR_CODE_603F(24639),
/**
* <code>CIA402_CONTROL_WORD_6040 = 24640;</code>
*/
CIA402_CONTROL_WORD_6040(24640),
/**
* <code>CIA402_STATUS_WORD_6041 = 24641;</code>
*/
CIA402_STATUS_WORD_6041(24641),
/**
* <code>CIA402_QUICK_STOP_OPTION_605A = 24666;</code>
*/
CIA402_QUICK_STOP_OPTION_605A(24666),
/**
* <code>CIA402_SHUTDOWN_OPTION_605B = 24667;</code>
*/
CIA402_SHUTDOWN_OPTION_605B(24667),
/**
* <code>CIA402_DISABLE_OPERATION_OPTION_605C = 24668;</code>
*/
CIA402_DISABLE_OPERATION_OPTION_605C(24668),
/**
* <code>CIA402_HALT_OPTION_605D = 24669;</code>
*/
CIA402_HALT_OPTION_605D(24669),
/**
* <code>CIA402_FAULT_REACTION_OPTION_605E = 24670;</code>
*/
CIA402_FAULT_REACTION_OPTION_605E(24670),
/**
* <code>CIA402_OPERATION_MODE_6060 = 24672;</code>
*/
CIA402_OPERATION_MODE_6060(24672),
/**
* <code>CIA402_MODE_DISPLAY_6061 = 24673;</code>
*/
CIA402_MODE_DISPLAY_6061(24673),
/**
* <code>CIA402_POSITION_DEMAND_VALUE_6062 = 24674;</code>
*/
CIA402_POSITION_DEMAND_VALUE_6062(24674),
/**
* <code>CIA402_ACTUAL_POSITION_6064 = 24676;</code>
*/
CIA402_ACTUAL_POSITION_6064(24676),
/**
* <code>CIA402_MAX_FOLLOWING_ERROR_6065 = 24677;</code>
*/
CIA402_MAX_FOLLOWING_ERROR_6065(24677),
/**
* <code>CIA402_POSITION_WINDOW_6067 = 24679;</code>
*/
CIA402_POSITION_WINDOW_6067(24679),
/**
* <code>CIA402_POSITION_WINDOW_TIME_6068 = 24680;</code>
*/
CIA402_POSITION_WINDOW_TIME_6068(24680),
/**
* <code>CIA402_VELOCITY_DEMAND_VALUE_606B = 24683;</code>
*/
CIA402_VELOCITY_DEMAND_VALUE_606B(24683),
/**
* <code>CIA402_ACTUAL_VELOCITY_606C = 24684;</code>
*/
CIA402_ACTUAL_VELOCITY_606C(24684),
/**
* <code>CIA402_VELOCITY_WINDOW_606D = 24685;</code>
*/
CIA402_VELOCITY_WINDOW_606D(24685),
/**
* <code>CIA402_VELOCITY_WINDOW_TIME_606E = 24686;</code>
*/
CIA402_VELOCITY_WINDOW_TIME_606E(24686),
/**
* <code>CIA402_VELOCITY_THRESHOLD_606F = 24687;</code>
*/
CIA402_VELOCITY_THRESHOLD_606F(24687),
/**
* <code>CIA402_VELOCITY_THRESHOLD_TIME_6070 = 24688;</code>
*/
CIA402_VELOCITY_THRESHOLD_TIME_6070(24688),
/**
* <code>CIA402_TARGET_TORQUE_6071 = 24689;</code>
*/
CIA402_TARGET_TORQUE_6071(24689),
/**
* <code>CIA402_MAX_TORQUE_6072 = 24690;</code>
*/
CIA402_MAX_TORQUE_6072(24690),
/**
* <code>CIA402_TORQUE_DEMAND_VALUE_6074 = 24692;</code>
*/
CIA402_TORQUE_DEMAND_VALUE_6074(24692),
/**
* <code>CIA402_MOTOR_RATED_TORQUE_6076 = 24694;</code>
*/
CIA402_MOTOR_RATED_TORQUE_6076(24694),
/**
* <code>CIA402_ACTUAL_TORQUE_6077 = 24695;</code>
*/
CIA402_ACTUAL_TORQUE_6077(24695),
/**
* <code>CIA402_ACTUAL_CURRENT_6078 = 24696;</code>
*/
CIA402_ACTUAL_CURRENT_6078(24696),
/**
* <code>CIA402_DC_LINK_VOLTAGE_6079 = 24697;</code>
*/
CIA402_DC_LINK_VOLTAGE_6079(24697),
/**
* <code>CIA402_TARGET_POSITION_607A = 24698;</code>
*/
CIA402_TARGET_POSITION_607A(24698),
/**
* <code>CIA402_HOME_OFFSET_607C = 24700;</code>
*/
CIA402_HOME_OFFSET_607C(24700),
/**
* <code>CIA402_SOFTWARE_POSITION_LIMIT_607D = 24701;</code>
*/
CIA402_SOFTWARE_POSITION_LIMIT_607D(24701),
/**
* <code>CIA402_MAX_PROFILE_VELOCITY_607F = 24703;</code>
*/
CIA402_MAX_PROFILE_VELOCITY_607F(24703),
/**
* <code>CIA402_PROFILE_VELOCITY_6081 = 24705;</code>
*/
CIA402_PROFILE_VELOCITY_6081(24705),
/**
* <code>CIA402_PROFILE_ACCELERATION_6083 = 24707;</code>
*/
CIA402_PROFILE_ACCELERATION_6083(24707),
/**
* <code>CIA402_PROFILE_DECELERATION_6084 = 24708;</code>
*/
CIA402_PROFILE_DECELERATION_6084(24708),
/**
* <code>CIA402_QUICK_STOP_DECELERATION_6085 = 24709;</code>
*/
CIA402_QUICK_STOP_DECELERATION_6085(24709),
/**
* <code>CIA402_TORQUE_SLOPE_6087 = 24711;</code>
*/
CIA402_TORQUE_SLOPE_6087(24711),
/**
* <code>CIA402_GEAR_RATIO_6091 = 24721;</code>
*/
CIA402_GEAR_RATIO_6091(24721),
/**
* <code>CIA402_VELOCITY_OFFSET_60B1 = 24753;</code>
*/
CIA402_VELOCITY_OFFSET_60B1(24753),
/**
* <code>CIA402_TORQUE_OFFSET_60B2 = 24754;</code>
*/
CIA402_TORQUE_OFFSET_60B2(24754),
/**
* <code>CIA402_INTERPOLATION_DATA_RECORD_60C1 = 24769;</code>
*/
CIA402_INTERPOLATION_DATA_RECORD_60C1(24769),
/**
* <code>CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 24770;</code>
*/
CIA402_INTERPOLATION_TIME_PERIOD_60C2(24770),
/**
* <code>CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 24820;</code>
*/
CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4(24820),
/**
* <code>CIA402_TARGET_VELOCITY_60FF = 24831;</code>
*/
CIA402_TARGET_VELOCITY_60FF(24831),
/**
* <code>CIA402_SUPPORTED_DRIVE_MODES_6502 = 25858;</code>
*/
CIA402_SUPPORTED_DRIVE_MODES_6502(25858),
UNRECOGNIZED(-1),
;
/**
* <code>CIA402_OBJECT_INDEX_ZERO = 0;</code>
*/
public static final int CIA402_OBJECT_INDEX_ZERO_VALUE = 0;
/**
* <code>CIA402_ERROR_CODE_603F = 24639;</code>
*/
public static final int CIA402_ERROR_CODE_603F_VALUE = 24639;
/**
* <code>CIA402_CONTROL_WORD_6040 = 24640;</code>
*/
public static final int CIA402_CONTROL_WORD_6040_VALUE = 24640;
/**
* <code>CIA402_STATUS_WORD_6041 = 24641;</code>
*/
public static final int CIA402_STATUS_WORD_6041_VALUE = 24641;
/**
* <code>CIA402_QUICK_STOP_OPTION_605A = 24666;</code>
*/
public static final int CIA402_QUICK_STOP_OPTION_605A_VALUE = 24666;
/**
* <code>CIA402_SHUTDOWN_OPTION_605B = 24667;</code>
*/
public static final int CIA402_SHUTDOWN_OPTION_605B_VALUE = 24667;
/**
* <code>CIA402_DISABLE_OPERATION_OPTION_605C = 24668;</code>
*/
public static final int CIA402_DISABLE_OPERATION_OPTION_605C_VALUE = 24668;
/**
* <code>CIA402_HALT_OPTION_605D = 24669;</code>
*/
public static final int CIA402_HALT_OPTION_605D_VALUE = 24669;
/**
* <code>CIA402_FAULT_REACTION_OPTION_605E = 24670;</code>
*/
public static final int CIA402_FAULT_REACTION_OPTION_605E_VALUE = 24670;
/**
* <code>CIA402_OPERATION_MODE_6060 = 24672;</code>
*/
public static final int CIA402_OPERATION_MODE_6060_VALUE = 24672;
/**
* <code>CIA402_MODE_DISPLAY_6061 = 24673;</code>
*/
public static final int CIA402_MODE_DISPLAY_6061_VALUE = 24673;
/**
* <code>CIA402_POSITION_DEMAND_VALUE_6062 = 24674;</code>
*/
public static final int CIA402_POSITION_DEMAND_VALUE_6062_VALUE = 24674;
/**
* <code>CIA402_ACTUAL_POSITION_6064 = 24676;</code>
*/
public static final int CIA402_ACTUAL_POSITION_6064_VALUE = 24676;
/**
* <code>CIA402_MAX_FOLLOWING_ERROR_6065 = 24677;</code>
*/
public static final int CIA402_MAX_FOLLOWING_ERROR_6065_VALUE = 24677;
/**
* <code>CIA402_POSITION_WINDOW_6067 = 24679;</code>
*/
public static final int CIA402_POSITION_WINDOW_6067_VALUE = 24679;
/**
* <code>CIA402_POSITION_WINDOW_TIME_6068 = 24680;</code>
*/
public static final int CIA402_POSITION_WINDOW_TIME_6068_VALUE = 24680;
/**
* <code>CIA402_VELOCITY_DEMAND_VALUE_606B = 24683;</code>
*/
public static final int CIA402_VELOCITY_DEMAND_VALUE_606B_VALUE = 24683;
/**
* <code>CIA402_ACTUAL_VELOCITY_606C = 24684;</code>
*/
public static final int CIA402_ACTUAL_VELOCITY_606C_VALUE = 24684;
/**
* <code>CIA402_VELOCITY_WINDOW_606D = 24685;</code>
*/
public static final int CIA402_VELOCITY_WINDOW_606D_VALUE = 24685;
/**
* <code>CIA402_VELOCITY_WINDOW_TIME_606E = 24686;</code>
*/
public static final int CIA402_VELOCITY_WINDOW_TIME_606E_VALUE = 24686;
/**
* <code>CIA402_VELOCITY_THRESHOLD_606F = 24687;</code>
*/
public static final int CIA402_VELOCITY_THRESHOLD_606F_VALUE = 24687;
/**
* <code>CIA402_VELOCITY_THRESHOLD_TIME_6070 = 24688;</code>
*/
public static final int CIA402_VELOCITY_THRESHOLD_TIME_6070_VALUE = 24688;
/**
* <code>CIA402_TARGET_TORQUE_6071 = 24689;</code>
*/
public static final int CIA402_TARGET_TORQUE_6071_VALUE = 24689;
/**
* <code>CIA402_MAX_TORQUE_6072 = 24690;</code>
*/
public static final int CIA402_MAX_TORQUE_6072_VALUE = 24690;
/**
* <code>CIA402_TORQUE_DEMAND_VALUE_6074 = 24692;</code>
*/
public static final int CIA402_TORQUE_DEMAND_VALUE_6074_VALUE = 24692;
/**
* <code>CIA402_MOTOR_RATED_TORQUE_6076 = 24694;</code>
*/
public static final int CIA402_MOTOR_RATED_TORQUE_6076_VALUE = 24694;
/**
* <code>CIA402_ACTUAL_TORQUE_6077 = 24695;</code>
*/
public static final int CIA402_ACTUAL_TORQUE_6077_VALUE = 24695;
/**
* <code>CIA402_ACTUAL_CURRENT_6078 = 24696;</code>
*/
public static final int CIA402_ACTUAL_CURRENT_6078_VALUE = 24696;
/**
* <code>CIA402_DC_LINK_VOLTAGE_6079 = 24697;</code>
*/
public static final int CIA402_DC_LINK_VOLTAGE_6079_VALUE = 24697;
/**
* <code>CIA402_TARGET_POSITION_607A = 24698;</code>
*/
public static final int CIA402_TARGET_POSITION_607A_VALUE = 24698;
/**
* <code>CIA402_HOME_OFFSET_607C = 24700;</code>
*/
public static final int CIA402_HOME_OFFSET_607C_VALUE = 24700;
/**
* <code>CIA402_SOFTWARE_POSITION_LIMIT_607D = 24701;</code>
*/
public static final int CIA402_SOFTWARE_POSITION_LIMIT_607D_VALUE = 24701;
/**
* <code>CIA402_MAX_PROFILE_VELOCITY_607F = 24703;</code>
*/
public static final int CIA402_MAX_PROFILE_VELOCITY_607F_VALUE = 24703;
/**
* <code>CIA402_PROFILE_VELOCITY_6081 = 24705;</code>
*/
public static final int CIA402_PROFILE_VELOCITY_6081_VALUE = 24705;
/**
* <code>CIA402_PROFILE_ACCELERATION_6083 = 24707;</code>
*/
public static final int CIA402_PROFILE_ACCELERATION_6083_VALUE = 24707;
/**
* <code>CIA402_PROFILE_DECELERATION_6084 = 24708;</code>
*/
public static final int CIA402_PROFILE_DECELERATION_6084_VALUE = 24708;
/**
* <code>CIA402_QUICK_STOP_DECELERATION_6085 = 24709;</code>
*/
public static final int CIA402_QUICK_STOP_DECELERATION_6085_VALUE = 24709;
/**
* <code>CIA402_TORQUE_SLOPE_6087 = 24711;</code>
*/
public static final int CIA402_TORQUE_SLOPE_6087_VALUE = 24711;
/**
* <code>CIA402_GEAR_RATIO_6091 = 24721;</code>
*/
public static final int CIA402_GEAR_RATIO_6091_VALUE = 24721;
/**
* <code>CIA402_VELOCITY_OFFSET_60B1 = 24753;</code>
*/
public static final int CIA402_VELOCITY_OFFSET_60B1_VALUE = 24753;
/**
* <code>CIA402_TORQUE_OFFSET_60B2 = 24754;</code>
*/
public static final int CIA402_TORQUE_OFFSET_60B2_VALUE = 24754;
/**
* <code>CIA402_INTERPOLATION_DATA_RECORD_60C1 = 24769;</code>
*/
public static final int CIA402_INTERPOLATION_DATA_RECORD_60C1_VALUE = 24769;
/**
* <code>CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 24770;</code>
*/
public static final int CIA402_INTERPOLATION_TIME_PERIOD_60C2_VALUE = 24770;
/**
* <code>CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 24820;</code>
*/
public static final int CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4_VALUE = 24820;
/**
* <code>CIA402_TARGET_VELOCITY_60FF = 24831;</code>
*/
public static final int CIA402_TARGET_VELOCITY_60FF_VALUE = 24831;
/**
* <code>CIA402_SUPPORTED_DRIVE_MODES_6502 = 25858;</code>
*/
public static final int CIA402_SUPPORTED_DRIVE_MODES_6502_VALUE = 25858;
public final int getNumber() {
if (this == UNRECOGNIZED) {
throw new java.lang.IllegalArgumentException(
"Can't get the number of an unknown enum value.");
}
return value;
}
/**
* @param value The numeric wire value of the corresponding enum entry.
* @return The enum associated with the given numeric wire value.
* @deprecated Use {@link #forNumber(int)} instead.
*/
@java.lang.Deprecated
public static Cia402ObjectIndex valueOf(int value) {
return forNumber(value);
}
/**
* @param value The numeric wire value of the corresponding enum entry.
* @return The enum associated with the given numeric wire value.
*/
public static Cia402ObjectIndex forNumber(int value) {
switch (value) {
case 0: return CIA402_OBJECT_INDEX_ZERO;
case 24639: return CIA402_ERROR_CODE_603F;
case 24640: return CIA402_CONTROL_WORD_6040;
case 24641: return CIA402_STATUS_WORD_6041;
case 24666: return CIA402_QUICK_STOP_OPTION_605A;
case 24667: return CIA402_SHUTDOWN_OPTION_605B;
case 24668: return CIA402_DISABLE_OPERATION_OPTION_605C;
case 24669: return CIA402_HALT_OPTION_605D;
case 24670: return CIA402_FAULT_REACTION_OPTION_605E;
case 24672: return CIA402_OPERATION_MODE_6060;
case 24673: return CIA402_MODE_DISPLAY_6061;
case 24674: return CIA402_POSITION_DEMAND_VALUE_6062;
case 24676: return CIA402_ACTUAL_POSITION_6064;
case 24677: return CIA402_MAX_FOLLOWING_ERROR_6065;
case 24679: return CIA402_POSITION_WINDOW_6067;
case 24680: return CIA402_POSITION_WINDOW_TIME_6068;
case 24683: return CIA402_VELOCITY_DEMAND_VALUE_606B;
case 24684: return CIA402_ACTUAL_VELOCITY_606C;
case 24685: return CIA402_VELOCITY_WINDOW_606D;
case 24686: return CIA402_VELOCITY_WINDOW_TIME_606E;
case 24687: return CIA402_VELOCITY_THRESHOLD_606F;
case 24688: return CIA402_VELOCITY_THRESHOLD_TIME_6070;
case 24689: return CIA402_TARGET_TORQUE_6071;
case 24690: return CIA402_MAX_TORQUE_6072;
case 24692: return CIA402_TORQUE_DEMAND_VALUE_6074;
case 24694: return CIA402_MOTOR_RATED_TORQUE_6076;
case 24695: return CIA402_ACTUAL_TORQUE_6077;
case 24696: return CIA402_ACTUAL_CURRENT_6078;
case 24697: return CIA402_DC_LINK_VOLTAGE_6079;
case 24698: return CIA402_TARGET_POSITION_607A;
case 24700: return CIA402_HOME_OFFSET_607C;
case 24701: return CIA402_SOFTWARE_POSITION_LIMIT_607D;
case 24703: return CIA402_MAX_PROFILE_VELOCITY_607F;
case 24705: return CIA402_PROFILE_VELOCITY_6081;
case 24707: return CIA402_PROFILE_ACCELERATION_6083;
case 24708: return CIA402_PROFILE_DECELERATION_6084;
case 24709: return CIA402_QUICK_STOP_DECELERATION_6085;
case 24711: return CIA402_TORQUE_SLOPE_6087;
case 24721: return CIA402_GEAR_RATIO_6091;
case 24753: return CIA402_VELOCITY_OFFSET_60B1;
case 24754: return CIA402_TORQUE_OFFSET_60B2;
case 24769: return CIA402_INTERPOLATION_DATA_RECORD_60C1;
case 24770: return CIA402_INTERPOLATION_TIME_PERIOD_60C2;
case 24820: return CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4;
case 24831: return CIA402_TARGET_VELOCITY_60FF;
case 25858: return CIA402_SUPPORTED_DRIVE_MODES_6502;
default: return null;
}
}
public static com.google.protobuf.Internal.EnumLiteMap<Cia402ObjectIndex>
internalGetValueMap() {
return internalValueMap;
}
private static final com.google.protobuf.Internal.EnumLiteMap<
Cia402ObjectIndex> internalValueMap =
new com.google.protobuf.Internal.EnumLiteMap<Cia402ObjectIndex>() {
public Cia402ObjectIndex findValueByNumber(int number) {
return Cia402ObjectIndex.forNumber(number);
}
};
public final com.google.protobuf.Descriptors.EnumValueDescriptor
getValueDescriptor() {
if (this == UNRECOGNIZED) {
throw new java.lang.IllegalStateException(
"Can't get the descriptor of an unrecognized enum value.");
}
return getDescriptor().getValues().get(ordinal());
}
public final com.google.protobuf.Descriptors.EnumDescriptor
getDescriptorForType() {
return getDescriptor();
}
public static final com.google.protobuf.Descriptors.EnumDescriptor
getDescriptor() {
return cmvr.msgs.Cia402.getDescriptor().getEnumTypes().get(0);
}
private static final Cia402ObjectIndex[] VALUES = values();
public static Cia402ObjectIndex valueOf(
com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
if (desc.getType() != getDescriptor()) {
throw new java.lang.IllegalArgumentException(
"EnumValueDescriptor is not for this type.");
}
if (desc.getIndex() == -1) {
return UNRECOGNIZED;
}
return VALUES[desc.getIndex()];
}
private final int value;
private Cia402ObjectIndex(int value) {
this.value = value;
}
// @@protoc_insertion_point(enum_scope:cmvr.msgs.Cia402ObjectIndex)
}
public static com.google.protobuf.Descriptors.FileDescriptor
getDescriptor() {
return descriptor;
}
private static com.google.protobuf.Descriptors.FileDescriptor
descriptor;
static {
java.lang.String[] descriptorData = {
"\n\026cmvr/msgs/cia402.proto\022\tcmvr.msgs*\260\r\n\021" +
"Cia402ObjectIndex\022\034\n\030CIA402_OBJECT_INDEX" +
"_ZERO\020\000\022\034\n\026CIA402_ERROR_CODE_603F\020\277\300\001\022\036\n" +
"\030CIA402_CONTROL_WORD_6040\020\300\300\001\022\035\n\027CIA402_" +
"STATUS_WORD_6041\020\301\300\001\022#\n\035CIA402_QUICK_STO" +
"P_OPTION_605A\020\332\300\001\022!\n\033CIA402_SHUTDOWN_OPT" +
"ION_605B\020\333\300\001\022*\n$CIA402_DISABLE_OPERATION" +
"_OPTION_605C\020\334\300\001\022\035\n\027CIA402_HALT_OPTION_6" +
"05D\020\335\300\001\022\'\n!CIA402_FAULT_REACTION_OPTION_" +
"605E\020\336\300\001\022 \n\032CIA402_OPERATION_MODE_6060\020\340" +
"\300\001\022\036\n\030CIA402_MODE_DISPLAY_6061\020\341\300\001\022\'\n!CI" +
"A402_POSITION_DEMAND_VALUE_6062\020\342\300\001\022!\n\033C" +
"IA402_ACTUAL_POSITION_6064\020\344\300\001\022%\n\037CIA402" +
"_MAX_FOLLOWING_ERROR_6065\020\345\300\001\022!\n\033CIA402_" +
"POSITION_WINDOW_6067\020\347\300\001\022&\n CIA402_POSIT" +
"ION_WINDOW_TIME_6068\020\350\300\001\022\'\n!CIA402_VELOC" +
"ITY_DEMAND_VALUE_606B\020\353\300\001\022!\n\033CIA402_ACTU" +
"AL_VELOCITY_606C\020\354\300\001\022!\n\033CIA402_VELOCITY_" +
"WINDOW_606D\020\355\300\001\022&\n CIA402_VELOCITY_WINDO" +
"W_TIME_606E\020\356\300\001\022$\n\036CIA402_VELOCITY_THRES" +
"HOLD_606F\020\357\300\001\022)\n#CIA402_VELOCITY_THRESHO" +
"LD_TIME_6070\020\360\300\001\022\037\n\031CIA402_TARGET_TORQUE" +
"_6071\020\361\300\001\022\034\n\026CIA402_MAX_TORQUE_6072\020\362\300\001\022" +
"%\n\037CIA402_TORQUE_DEMAND_VALUE_6074\020\364\300\001\022$" +
"\n\036CIA402_MOTOR_RATED_TORQUE_6076\020\366\300\001\022\037\n\031" +
"CIA402_ACTUAL_TORQUE_6077\020\367\300\001\022 \n\032CIA402_" +
"ACTUAL_CURRENT_6078\020\370\300\001\022!\n\033CIA402_DC_LIN" +
"K_VOLTAGE_6079\020\371\300\001\022!\n\033CIA402_TARGET_POSI" +
"TION_607A\020\372\300\001\022\035\n\027CIA402_HOME_OFFSET_607C" +
"\020\374\300\001\022)\n#CIA402_SOFTWARE_POSITION_LIMIT_6" +
"07D\020\375\300\001\022&\n CIA402_MAX_PROFILE_VELOCITY_6" +
"07F\020\377\300\001\022\"\n\034CIA402_PROFILE_VELOCITY_6081\020" +
"\201\301\001\022&\n CIA402_PROFILE_ACCELERATION_6083\020" +
"\203\301\001\022&\n CIA402_PROFILE_DECELERATION_6084\020" +
"\204\301\001\022)\n#CIA402_QUICK_STOP_DECELERATION_60" +
"85\020\205\301\001\022\036\n\030CIA402_TORQUE_SLOPE_6087\020\207\301\001\022\034" +
"\n\026CIA402_GEAR_RATIO_6091\020\221\301\001\022!\n\033CIA402_V" +
"ELOCITY_OFFSET_60B1\020\261\301\001\022\037\n\031CIA402_TORQUE" +
"_OFFSET_60B2\020\262\301\001\022+\n%CIA402_INTERPOLATION" +
"_DATA_RECORD_60C1\020\301\301\001\022+\n%CIA402_INTERPOL" +
"ATION_TIME_PERIOD_60C2\020\302\301\001\022.\n(CIA402_FOL" +
"LOWING_ERROR_ACTUAL_VALUE_60F4\020\364\301\001\022!\n\033CI" +
"A402_TARGET_VELOCITY_60FF\020\377\301\001\022\'\n!CIA402_" +
"SUPPORTED_DRIVE_MODES_6502\020\202\312\001b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
});
}
// @@protoc_insertion_point(outer_class_scope)
}

909
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/ErrorCodeOuterClass.java Normal file
View File

@ -0,0 +1,909 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: cmvr/msgs/error_code.proto
package cmvr.msgs;
public final class ErrorCodeOuterClass {
private ErrorCodeOuterClass() {}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistryLite registry) {
}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistry registry) {
registerAllExtensions(
(com.google.protobuf.ExtensionRegistryLite) registry);
}
/**
* <pre>
* Error codes enum for API's categorized by modules.
* </pre>
*
* Protobuf enum {@code cmvr.msgs.ErrorCode}
*/
public enum ErrorCode
implements com.google.protobuf.ProtocolMessageEnum {
/**
* <pre>
* No error, returns on success.
* </pre>
*
* <code>OK = 0;</code>
*/
OK(0),
/**
* <pre>
* Canbus module error codes start from here.
* </pre>
*
* <code>CANBUS_ERROR = 2000;</code>
*/
CANBUS_ERROR(2000),
/**
* <code>CAN_CLIENT_ERROR_BASE = 2100;</code>
*/
CAN_CLIENT_ERROR_BASE(2100),
/**
* <code>CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;</code>
*/
CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED(2101),
/**
* <code>CAN_CLIENT_ERROR_FRAME_NUM = 2102;</code>
*/
CAN_CLIENT_ERROR_FRAME_NUM(2102),
/**
* <code>CAN_CLIENT_ERROR_SEND_FAILED = 2103;</code>
*/
CAN_CLIENT_ERROR_SEND_FAILED(2103),
/**
* <code>CAN_CLIENT_ERROR_RECV_FAILED = 2104;</code>
*/
CAN_CLIENT_ERROR_RECV_FAILED(2104),
/**
* <pre>
* motor
* </pre>
*
* <code>MOTOR_ERROR = 3000;</code>
*/
MOTOR_ERROR(3000),
/**
* <code>MOTOR_ERROR_SET_ZERO = 3001;</code>
*/
MOTOR_ERROR_SET_ZERO(3001),
UNRECOGNIZED(-1),
;
/**
* <pre>
* No error, returns on success.
* </pre>
*
* <code>OK = 0;</code>
*/
public static final int OK_VALUE = 0;
/**
* <pre>
* Canbus module error codes start from here.
* </pre>
*
* <code>CANBUS_ERROR = 2000;</code>
*/
public static final int CANBUS_ERROR_VALUE = 2000;
/**
* <code>CAN_CLIENT_ERROR_BASE = 2100;</code>
*/
public static final int CAN_CLIENT_ERROR_BASE_VALUE = 2100;
/**
* <code>CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;</code>
*/
public static final int CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED_VALUE = 2101;
/**
* <code>CAN_CLIENT_ERROR_FRAME_NUM = 2102;</code>
*/
public static final int CAN_CLIENT_ERROR_FRAME_NUM_VALUE = 2102;
/**
* <code>CAN_CLIENT_ERROR_SEND_FAILED = 2103;</code>
*/
public static final int CAN_CLIENT_ERROR_SEND_FAILED_VALUE = 2103;
/**
* <code>CAN_CLIENT_ERROR_RECV_FAILED = 2104;</code>
*/
public static final int CAN_CLIENT_ERROR_RECV_FAILED_VALUE = 2104;
/**
* <pre>
* motor
* </pre>
*
* <code>MOTOR_ERROR = 3000;</code>
*/
public static final int MOTOR_ERROR_VALUE = 3000;
/**
* <code>MOTOR_ERROR_SET_ZERO = 3001;</code>
*/
public static final int MOTOR_ERROR_SET_ZERO_VALUE = 3001;
public final int getNumber() {
if (this == UNRECOGNIZED) {
throw new java.lang.IllegalArgumentException(
"Can't get the number of an unknown enum value.");
}
return value;
}
/**
* @param value The numeric wire value of the corresponding enum entry.
* @return The enum associated with the given numeric wire value.
* @deprecated Use {@link #forNumber(int)} instead.
*/
@java.lang.Deprecated
public static ErrorCode valueOf(int value) {
return forNumber(value);
}
/**
* @param value The numeric wire value of the corresponding enum entry.
* @return The enum associated with the given numeric wire value.
*/
public static ErrorCode forNumber(int value) {
switch (value) {
case 0: return OK;
case 2000: return CANBUS_ERROR;
case 2100: return CAN_CLIENT_ERROR_BASE;
case 2101: return CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED;
case 2102: return CAN_CLIENT_ERROR_FRAME_NUM;
case 2103: return CAN_CLIENT_ERROR_SEND_FAILED;
case 2104: return CAN_CLIENT_ERROR_RECV_FAILED;
case 3000: return MOTOR_ERROR;
case 3001: return MOTOR_ERROR_SET_ZERO;
default: return null;
}
}
public static com.google.protobuf.Internal.EnumLiteMap<ErrorCode>
internalGetValueMap() {
return internalValueMap;
}
private static final com.google.protobuf.Internal.EnumLiteMap<
ErrorCode> internalValueMap =
new com.google.protobuf.Internal.EnumLiteMap<ErrorCode>() {
public ErrorCode findValueByNumber(int number) {
return ErrorCode.forNumber(number);
}
};
public final com.google.protobuf.Descriptors.EnumValueDescriptor
getValueDescriptor() {
if (this == UNRECOGNIZED) {
throw new java.lang.IllegalStateException(
"Can't get the descriptor of an unrecognized enum value.");
}
return getDescriptor().getValues().get(ordinal());
}
public final com.google.protobuf.Descriptors.EnumDescriptor
getDescriptorForType() {
return getDescriptor();
}
public static final com.google.protobuf.Descriptors.EnumDescriptor
getDescriptor() {
return cmvr.msgs.ErrorCodeOuterClass.getDescriptor().getEnumTypes().get(0);
}
private static final ErrorCode[] VALUES = values();
public static ErrorCode valueOf(
com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
if (desc.getType() != getDescriptor()) {
throw new java.lang.IllegalArgumentException(
"EnumValueDescriptor is not for this type.");
}
if (desc.getIndex() == -1) {
return UNRECOGNIZED;
}
return VALUES[desc.getIndex()];
}
private final int value;
private ErrorCode(int value) {
this.value = value;
}
// @@protoc_insertion_point(enum_scope:cmvr.msgs.ErrorCode)
}
public interface StatusPbOrBuilder extends
// @@protoc_insertion_point(interface_extends:cmvr.msgs.StatusPb)
com.google.protobuf.MessageOrBuilder {
/**
* <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
* @return The enum numeric value on the wire for errorCode.
*/
int getErrorCodeValue();
/**
* <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
* @return The errorCode.
*/
cmvr.msgs.ErrorCodeOuterClass.ErrorCode getErrorCode();
/**
* <code>string msg = 2;</code>
* @return The msg.
*/
java.lang.String getMsg();
/**
* <code>string msg = 2;</code>
* @return The bytes for msg.
*/
com.google.protobuf.ByteString
getMsgBytes();
}
/**
* Protobuf type {@code cmvr.msgs.StatusPb}
*/
public static final class StatusPb extends
com.google.protobuf.GeneratedMessageV3 implements
// @@protoc_insertion_point(message_implements:cmvr.msgs.StatusPb)
StatusPbOrBuilder {
private static final long serialVersionUID = 0L;
// Use StatusPb.newBuilder() to construct.
private StatusPb(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
super(builder);
}
private StatusPb() {
errorCode_ = 0;
msg_ = "";
}
@java.lang.Override
@SuppressWarnings({"unused"})
protected java.lang.Object newInstance(
UnusedPrivateParameter unused) {
return new StatusPb();
}
@java.lang.Override
public final com.google.protobuf.UnknownFieldSet
getUnknownFields() {
return this.unknownFields;
}
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_descriptor;
}
@java.lang.Override
protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internalGetFieldAccessorTable() {
return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_fieldAccessorTable
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public static final int ERROR_CODE_FIELD_NUMBER = 1;
private int errorCode_;
/**
* <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
* @return The enum numeric value on the wire for errorCode.
*/
@java.lang.Override public int getErrorCodeValue() {
return errorCode_;
}
/**
* <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
* @return The errorCode.
*/
@java.lang.Override public cmvr.msgs.ErrorCodeOuterClass.ErrorCode getErrorCode() {
@SuppressWarnings("deprecation")
cmvr.msgs.ErrorCodeOuterClass.ErrorCode result = cmvr.msgs.ErrorCodeOuterClass.ErrorCode.valueOf(errorCode_);
return result == null ? cmvr.msgs.ErrorCodeOuterClass.ErrorCode.UNRECOGNIZED : result;
}
public static final int MSG_FIELD_NUMBER = 2;
private volatile java.lang.Object msg_;
/**
* <code>string msg = 2;</code>
* @return The msg.
*/
@java.lang.Override
public java.lang.String getMsg() {
java.lang.Object ref = msg_;
if (ref instanceof java.lang.String) {
return (java.lang.String) ref;
} else {
com.google.protobuf.ByteString bs =
(com.google.protobuf.ByteString) ref;
java.lang.String s = bs.toStringUtf8();
msg_ = s;
return s;
}
}
/**
* <code>string msg = 2;</code>
* @return The bytes for msg.
*/
@java.lang.Override
public com.google.protobuf.ByteString
getMsgBytes() {
java.lang.Object ref = msg_;
if (ref instanceof java.lang.String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
msg_ = b;
return b;
} else {
return (com.google.protobuf.ByteString) ref;
}
}
private byte memoizedIsInitialized = -1;
@java.lang.Override
public final boolean isInitialized() {
byte isInitialized = memoizedIsInitialized;
if (isInitialized == 1) return true;
if (isInitialized == 0) return false;
memoizedIsInitialized = 1;
return true;
}
@java.lang.Override
public void writeTo(com.google.protobuf.CodedOutputStream output)
throws java.io.IOException {
if (errorCode_ != cmvr.msgs.ErrorCodeOuterClass.ErrorCode.OK.getNumber()) {
output.writeEnum(1, errorCode_);
}
if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(msg_)) {
com.google.protobuf.GeneratedMessageV3.writeString(output, 2, msg_);
}
getUnknownFields().writeTo(output);
}
@java.lang.Override
public int getSerializedSize() {
int size = memoizedSize;
if (size != -1) return size;
size = 0;
if (errorCode_ != cmvr.msgs.ErrorCodeOuterClass.ErrorCode.OK.getNumber()) {
size += com.google.protobuf.CodedOutputStream
.computeEnumSize(1, errorCode_);
}
if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(msg_)) {
size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, msg_);
}
size += getUnknownFields().getSerializedSize();
memoizedSize = size;
return size;
}
@java.lang.Override
public boolean equals(final java.lang.Object obj) {
if (obj == this) {
return true;
}
if (!(obj instanceof cmvr.msgs.ErrorCodeOuterClass.StatusPb)) {
return super.equals(obj);
}
cmvr.msgs.ErrorCodeOuterClass.StatusPb other = (cmvr.msgs.ErrorCodeOuterClass.StatusPb) obj;
if (errorCode_ != other.errorCode_) return false;
if (!getMsg()
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if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
}
@java.lang.Override
public int hashCode() {
if (memoizedHashCode != 0) {
return memoizedHashCode;
}
int hash = 41;
hash = (19 * hash) + getDescriptor().hashCode();
hash = (37 * hash) + ERROR_CODE_FIELD_NUMBER;
hash = (53 * hash) + errorCode_;
hash = (37 * hash) + MSG_FIELD_NUMBER;
hash = (53 * hash) + getMsg().hashCode();
hash = (29 * hash) + getUnknownFields().hashCode();
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public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
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return PARSER.parseFrom(data);
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java.nio.ByteBuffer data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
com.google.protobuf.ByteString data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
com.google.protobuf.ByteString data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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return PARSER.parseFrom(data, extensionRegistry);
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public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(byte[] data)
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return PARSER.parseFrom(data);
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public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
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return com.google.protobuf.GeneratedMessageV3
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return com.google.protobuf.GeneratedMessageV3
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public static Builder newBuilder(cmvr.msgs.ErrorCodeOuterClass.StatusPb prototype) {
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/**
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// @@protoc_insertion_point(builder_implements:cmvr.msgs.StatusPb)
cmvr.msgs.ErrorCodeOuterClass.StatusPbOrBuilder {
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result.msg_ = msg_;
onBuilt();
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if (other == cmvr.msgs.ErrorCodeOuterClass.StatusPb.getDefaultInstance()) return this;
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cmvr.msgs.ErrorCodeOuterClass.ErrorCode result = cmvr.msgs.ErrorCodeOuterClass.ErrorCode.valueOf(errorCode_);
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*/
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msg_ = value;
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4964
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Motor.java Normal file
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File diff suppressed because it is too large Load Diff

847
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/RobotDetailOuterClass.java Normal file
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@ -0,0 +1,847 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: cmvr/msgs/robot_detail.proto
package cmvr.msgs;
public final class RobotDetailOuterClass {
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public static void registerAllExtensions(
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public static void registerAllExtensions(
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/**
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int getMotorsCount();
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boolean containsMotors(
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cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
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public static final class RobotDetail extends
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RobotDetailOrBuilder {
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*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
@java.lang.Override
public boolean containsMotors(
int key) {
return internalGetMotors().getMap().containsKey(key);
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/**
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*/
@java.lang.Override
@java.lang.Deprecated
public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> getMotors() {
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public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> getMotorsMap() {
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* <pre>
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java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> map =
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java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> map =
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public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
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// @@protoc_insertion_point(builder_implements:cmvr.msgs.RobotDetail)
cmvr.msgs.RobotDetailOuterClass.RobotDetailOrBuilder {
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
}
@SuppressWarnings({"rawtypes"})
protected com.google.protobuf.MapField internalGetMapField(
int number) {
switch (number) {
case 1:
return internalGetMotors();
default:
throw new RuntimeException(
"Invalid map field number: " + number);
}
}
@SuppressWarnings({"rawtypes"})
protected com.google.protobuf.MapField internalGetMutableMapField(
int number) {
switch (number) {
case 1:
return internalGetMutableMotors();
default:
throw new RuntimeException(
"Invalid map field number: " + number);
}
}
@java.lang.Override
protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internalGetFieldAccessorTable() {
return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable
.ensureFieldAccessorsInitialized(
cmvr.msgs.RobotDetailOuterClass.RobotDetail.class, cmvr.msgs.RobotDetailOuterClass.RobotDetail.Builder.class);
}
// Construct using cmvr.msgs.RobotDetailOuterClass.RobotDetail.newBuilder()
private Builder() {
}
private Builder(
com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
super(parent);
}
@java.lang.Override
public Builder clear() {
super.clear();
internalGetMutableMotors().clear();
return this;
}
@java.lang.Override
public com.google.protobuf.Descriptors.Descriptor
getDescriptorForType() {
return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
}
@java.lang.Override
public cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstanceForType() {
return cmvr.msgs.RobotDetailOuterClass.RobotDetail.getDefaultInstance();
}
@java.lang.Override
public cmvr.msgs.RobotDetailOuterClass.RobotDetail build() {
cmvr.msgs.RobotDetailOuterClass.RobotDetail result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
}
return result;
}
@java.lang.Override
public cmvr.msgs.RobotDetailOuterClass.RobotDetail buildPartial() {
cmvr.msgs.RobotDetailOuterClass.RobotDetail result = new cmvr.msgs.RobotDetailOuterClass.RobotDetail(this);
int from_bitField0_ = bitField0_;
result.motors_ = internalGetMotors();
result.motors_.makeImmutable();
onBuilt();
return result;
}
@java.lang.Override
public Builder clone() {
return super.clone();
}
@java.lang.Override
public Builder setField(
com.google.protobuf.Descriptors.FieldDescriptor field,
java.lang.Object value) {
return super.setField(field, value);
}
@java.lang.Override
public Builder clearField(
com.google.protobuf.Descriptors.FieldDescriptor field) {
return super.clearField(field);
}
@java.lang.Override
public Builder clearOneof(
com.google.protobuf.Descriptors.OneofDescriptor oneof) {
return super.clearOneof(oneof);
}
@java.lang.Override
public Builder setRepeatedField(
com.google.protobuf.Descriptors.FieldDescriptor field,
int index, java.lang.Object value) {
return super.setRepeatedField(field, index, value);
}
@java.lang.Override
public Builder addRepeatedField(
com.google.protobuf.Descriptors.FieldDescriptor field,
java.lang.Object value) {
return super.addRepeatedField(field, value);
}
@java.lang.Override
public Builder mergeFrom(com.google.protobuf.Message other) {
if (other instanceof cmvr.msgs.RobotDetailOuterClass.RobotDetail) {
return mergeFrom((cmvr.msgs.RobotDetailOuterClass.RobotDetail)other);
} else {
super.mergeFrom(other);
return this;
}
}
public Builder mergeFrom(cmvr.msgs.RobotDetailOuterClass.RobotDetail other) {
if (other == cmvr.msgs.RobotDetailOuterClass.RobotDetail.getDefaultInstance()) return this;
internalGetMutableMotors().mergeFrom(
other.internalGetMotors());
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
return this;
}
@java.lang.Override
public final boolean isInitialized() {
return true;
}
@java.lang.Override
public Builder mergeFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
if (extensionRegistry == null) {
throw new java.lang.NullPointerException();
}
try {
boolean done = false;
while (!done) {
int tag = input.readTag();
switch (tag) {
case 0:
done = true;
break;
case 10: {
com.google.protobuf.MapEntry<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
motors__ = input.readMessage(
MotorsDefaultEntryHolder.defaultEntry.getParserForType(), extensionRegistry);
internalGetMutableMotors().getMutableMap().put(
motors__.getKey(), motors__.getValue());
break;
} // case 10
default: {
if (!super.parseUnknownField(input, extensionRegistry, tag)) {
done = true; // was an endgroup tag
}
break;
} // default:
} // switch (tag)
} // while (!done)
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
throw e.unwrapIOException();
} finally {
onChanged();
} // finally
return this;
}
private int bitField0_;
private com.google.protobuf.MapField<
java.lang.Integer, cmvr.msgs.Motor.MotorStatus> motors_;
private com.google.protobuf.MapField<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
internalGetMotors() {
if (motors_ == null) {
return com.google.protobuf.MapField.emptyMapField(
MotorsDefaultEntryHolder.defaultEntry);
}
return motors_;
}
private com.google.protobuf.MapField<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
internalGetMutableMotors() {
onChanged();;
if (motors_ == null) {
motors_ = com.google.protobuf.MapField.newMapField(
MotorsDefaultEntryHolder.defaultEntry);
}
if (!motors_.isMutable()) {
motors_ = motors_.copy();
}
return motors_;
}
public int getMotorsCount() {
return internalGetMotors().getMap().size();
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
@java.lang.Override
public boolean containsMotors(
int key) {
return internalGetMotors().getMap().containsKey(key);
}
/**
* Use {@link #getMotorsMap()} instead.
*/
@java.lang.Override
@java.lang.Deprecated
public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> getMotors() {
return getMotorsMap();
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
@java.lang.Override
public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> getMotorsMap() {
return internalGetMotors().getMap();
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
@java.lang.Override
public cmvr.msgs.Motor.MotorStatus getMotorsOrDefault(
int key,
cmvr.msgs.Motor.MotorStatus defaultValue) {
java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> map =
internalGetMotors().getMap();
return map.containsKey(key) ? map.get(key) : defaultValue;
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
@java.lang.Override
public cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
int key) {
java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> map =
internalGetMotors().getMap();
if (!map.containsKey(key)) {
throw new java.lang.IllegalArgumentException();
}
return map.get(key);
}
public Builder clearMotors() {
internalGetMutableMotors().getMutableMap()
.clear();
return this;
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
public Builder removeMotors(
int key) {
internalGetMutableMotors().getMutableMap()
.remove(key);
return this;
}
/**
* Use alternate mutation accessors instead.
*/
@java.lang.Deprecated
public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
getMutableMotors() {
return internalGetMutableMotors().getMutableMap();
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
public Builder putMotors(
int key,
cmvr.msgs.Motor.MotorStatus value) {
if (value == null) {
throw new NullPointerException("map value");
}
internalGetMutableMotors().getMutableMap()
.put(key, value);
return this;
}
/**
* <pre>
* key 电机 nodeid
* </pre>
*
* <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
*/
public Builder putAllMotors(
java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> values) {
internalGetMutableMotors().getMutableMap()
.putAll(values);
return this;
}
@java.lang.Override
public final Builder setUnknownFields(
final com.google.protobuf.UnknownFieldSet unknownFields) {
return super.setUnknownFields(unknownFields);
}
@java.lang.Override
public final Builder mergeUnknownFields(
final com.google.protobuf.UnknownFieldSet unknownFields) {
return super.mergeUnknownFields(unknownFields);
}
// @@protoc_insertion_point(builder_scope:cmvr.msgs.RobotDetail)
}
// @@protoc_insertion_point(class_scope:cmvr.msgs.RobotDetail)
private static final cmvr.msgs.RobotDetailOuterClass.RobotDetail DEFAULT_INSTANCE;
static {
DEFAULT_INSTANCE = new cmvr.msgs.RobotDetailOuterClass.RobotDetail();
}
public static cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstance() {
return DEFAULT_INSTANCE;
}
private static final com.google.protobuf.Parser<RobotDetail>
PARSER = new com.google.protobuf.AbstractParser<RobotDetail>() {
@java.lang.Override
public RobotDetail parsePartialFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
Builder builder = newBuilder();
try {
builder.mergeFrom(input, extensionRegistry);
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
throw e.setUnfinishedMessage(builder.buildPartial());
} catch (com.google.protobuf.UninitializedMessageException e) {
throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
} catch (java.io.IOException e) {
throw new com.google.protobuf.InvalidProtocolBufferException(e)
.setUnfinishedMessage(builder.buildPartial());
}
return builder.buildPartial();
}
};
public static com.google.protobuf.Parser<RobotDetail> parser() {
return PARSER;
}
@java.lang.Override
public com.google.protobuf.Parser<RobotDetail> getParserForType() {
return PARSER;
}
@java.lang.Override
public cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstanceForType() {
return DEFAULT_INSTANCE;
}
}
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_cmvr_msgs_RobotDetail_descriptor;
private static final
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable;
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor;
private static final
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
internal_static_cmvr_msgs_RobotDetail_MotorsEntry_fieldAccessorTable;
public static com.google.protobuf.Descriptors.FileDescriptor
getDescriptor() {
return descriptor;
}
private static com.google.protobuf.Descriptors.FileDescriptor
descriptor;
static {
java.lang.String[] descriptorData = {
"\n\034cmvr/msgs/robot_detail.proto\022\tcmvr.msg" +
"s\032\025cmvr/msgs/motor.proto\"\210\001\n\013RobotDetail" +
"\0222\n\006motors\030\001 \003(\0132\".cmvr.msgs.RobotDetail" +
".MotorsEntry\032E\n\013MotorsEntry\022\013\n\003key\030\001 \001(\r" +
"\022%\n\005value\030\002 \001(\0132\026.cmvr.msgs.MotorStatus:" +
"\0028\001b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
cmvr.msgs.Motor.getDescriptor(),
});
internal_static_cmvr_msgs_RobotDetail_descriptor =
getDescriptor().getMessageTypes().get(0);
internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable = new
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
internal_static_cmvr_msgs_RobotDetail_descriptor,
new java.lang.String[] { "Motors", });
internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor =
internal_static_cmvr_msgs_RobotDetail_descriptor.getNestedTypes().get(0);
internal_static_cmvr_msgs_RobotDetail_MotorsEntry_fieldAccessorTable = new
com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor,
new java.lang.String[] { "Key", "Value", });
cmvr.msgs.Motor.getDescriptor();
}
// @@protoc_insertion_point(outer_class_scope)
}

8
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
View File

@ -3,7 +3,7 @@ syntax = "proto3";
package cmvr.api;
import "cmvr/api/common.proto";
import "cmvr/msgs/agv.proto";
import "cmvr/api/agv_utils.proto";
// 查询 AGV 运行状态命令。
message AgvRuntimeStateCommand {
@ -45,7 +45,7 @@ message AgvNavigateToPoseCommand {
CommandHeader.Request header = 1;
// 目标位姿。x/y 单位：米，theta 单位：弧度。
cmvr.msgs.AgvPose2d pose = 2;
// 通用运动约束和执行选项。
// 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
cmvr.msgs.AgvMotionOptions options = 3;
// AGV 适配器扩展参数，用于传递厂商特有选项。
cmvr.msgs.AgvAdapterParams adapter_params = 4;
@ -65,7 +65,7 @@ message AgvNavigateToStationCommand {
CommandHeader.Request header = 1;
// 目标站点 id。
string station_id = 2;
// 通用运动约束和执行选项。
// 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
cmvr.msgs.AgvMotionOptions options = 3;
// AGV 适配器扩展参数，用于传递厂商特有选项。
cmvr.msgs.AgvAdapterParams adapter_params = 4;
@ -85,6 +85,8 @@ message AgvFollowPathCommand {
CommandHeader.Request header = 1;
// 路径段列表。每段包含起点站点 id 和终点站点 id。
repeated cmvr.msgs.AgvPathSegment path = 2;
// 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
cmvr.msgs.AgvMotionOptions options = 3;
}
// 反馈体。
message Feedback {

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/agv.proto → cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_utils.proto
View File

@ -1,5 +1,7 @@
syntax = "proto3";
// 文件随 AGV API 定义统一放在 cmvr/api 下，但保留 cmvr.msgs package，
// 以兼容既有生成代码、消息完整名称和 Any type URL。
package cmvr.msgs;
// AGV 在地图平面坐标系中的二维位姿。
@ -52,8 +54,14 @@ message AgvMotionOptions {
double reach_angle = 6;
// 速度比例，范围通常为 [0, 1]；1 表示不降速。
double speed_ratio = 7;
// 是否异步执行；true 表示下发任务后立即返回。
// 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
// true 表示任务被控制器接受后立即返回。
bool asynchronous = 8;
// 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
// gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
int32 wait_timeout_ms = 9;
// 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
int32 poll_interval_ms = 10;
}
// AGV 适配器扩展参数。用于传递厂商或控制器特有的参数。

133
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_teleop_v1.proto Normal file
View File

@ -0,0 +1,133 @@
syntax = "proto3";
package cmvr.api.armteleop.v1;
// Versioned, session-oriented protocol for wired arm teleoperation. Existing
// unary ArmService RPCs intentionally remain unchanged.
service ArmTeleopService {
rpc Teleoperate(stream ClientFrame) returns (stream ServerFrame);
}
enum SessionPhase {
SESSION_PHASE_UNSPECIFIED = 0;
SESSION_PHASE_OPENED = 1;
SESSION_PHASE_READY = 2;
SESSION_PHASE_ACTIVE = 3;
SESSION_PHASE_HOLDING = 4;
SESSION_PHASE_STOPPED = 5;
SESSION_PHASE_WATCHDOG_EXPIRED = 6;
SESSION_PHASE_LEASE_LOST = 7;
SESSION_PHASE_REJECTED = 8;
SESSION_PHASE_FAILED = 9;
}
enum StopReason {
STOP_REASON_UNSPECIFIED = 0;
STOP_REASON_OPERATOR_REQUEST = 1;
STOP_REASON_CLIENT_SHUTDOWN = 2;
STOP_REASON_WATCHDOG = 3;
STOP_REASON_LEASE_REVOKED = 4;
STOP_REASON_ROBOT_FAULT = 5;
STOP_REASON_EMERGENCY_STOP = 6;
STOP_REASON_PROTOCOL_ERROR = 7;
}
enum EffortSource {
EFFORT_SOURCE_UNSPECIFIED = 0;
EFFORT_SOURCE_MOTOR_ESTIMATE = 1;
EFFORT_SOURCE_JOINT_SENSOR = 2;
EFFORT_SOURCE_FORCE_TORQUE_SENSOR = 3;
EFFORT_SOURCE_OBSERVER = 4;
}
message RobotManifest {
string robot_id = 1;
string model_sha256 = 2;
string calibration_sha256 = 3;
repeated string joint_names = 4;
string position_unit = 5;
string velocity_unit = 6;
string effort_unit = 7;
string base_frame = 8;
string tool_frame = 9;
}
message OpenSession {
uint32 protocol_major = 1;
uint32 protocol_minor = 2;
string client_instance_id = 3;
RobotManifest expected_robot = 4;
uint32 requested_command_rate_hz = 5;
uint32 requested_state_rate_hz = 6;
uint32 watchdog_timeout_ms = 7;
uint32 requested_lease_ms = 8;
bool request_force_feedback = 9;
}
message JointSetpoint {
// Strictly increasing and non-zero within a session.
uint64 sequence = 1;
repeated double position_rad = 2;
repeated double velocity_rad_s = 3;
// The receiver computes its deadline from local arrival time plus this
// duration. Zero is invalid for an active setpoint.
uint32 valid_for_us = 4;
}
message ClientHeartbeat {
uint64 sequence = 1;
}
message StopSession {
StopReason reason = 1;
string detail = 2;
}
message ClientFrame {
oneof payload {
OpenSession open = 1;
JointSetpoint setpoint = 2;
ClientHeartbeat heartbeat = 3;
StopSession stop = 4;
}
}
message JointState {
uint64 sample_sequence = 1;
repeated double position_rad = 2;
repeated double velocity_rad_s = 3;
repeated double effort_nm = 4;
bool position_valid = 5;
bool velocity_valid = 6;
bool effort_valid = 7;
EffortSource effort_source = 8;
uint64 sample_age_us = 9;
}
message SessionStatus {
string session_id = 1;
SessionPhase phase = 2;
uint64 received_sequence = 3;
uint64 applied_sequence = 4;
uint64 dropped_setpoints = 5;
uint64 rejected_setpoints = 6;
uint32 negotiated_watchdog_ms = 7;
uint32 lease_remaining_ms = 8;
StopReason stop_reason = 9;
string detail = 10;
}
message RobotSafetyState {
bool connected = 1;
bool powered_on = 2;
bool protective_stopped = 3;
bool emergency_stopped = 4;
bool fault = 5;
string fault_detail = 6;
}
message ServerFrame {
SessionStatus status = 1;
JointState joint_state = 2;
RobotSafetyState safety = 3;
}

1
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto
View File

@ -267,3 +267,4 @@ message ExpressionYawn {

7
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto
View File

@ -37,4 +37,11 @@ service BioHeadService {
rpc ExpressionYawn(ExpressionYawn.Request) returns (ExpressionYawn.Feedback){};
}

57
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
View File

@ -19,9 +19,18 @@ message FrameData {
FrameType type = 4;
string codec = 5;
bool is_key_frame = 6;
// Optional capture and source metadata. Fields 1-6 remain wire-compatible
// with existing clients; older clients safely ignore these additions.
int64 capture_utc_ns = 7;
uint64 source_sequence = 8;
int64 pts = 9;
int64 dts = 10;
uint32 source_fps = 11;
uint64 source_timestamp = 12;
uint64 source_frame_number = 13;
}
message Rs2Intrinsics {
message CameraIntrinsics {
float cx = 1; // 主点水平坐标（从左边缘的像素偏移）
float cy = 2; // 主点垂直坐标（从上边缘的像素偏移）
float fx = 3; // x方向焦距（像素宽度的倍数）
@ -79,7 +88,7 @@ message GetRGBImageCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
Rs2Intrinsics intrinsics = 3;
CameraIntrinsics intrinsics = 3;
}
}
@ -91,7 +100,7 @@ message GetDepthImageCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData depth_frame = 2;
Rs2Intrinsics intrinsics = 3;
CameraIntrinsics intrinsics = 3;
}
}
@ -104,7 +113,7 @@ message GetRGBDImagesCommand {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
FrameData depth_frame = 3;
Rs2Intrinsics intrinsics = 4;
CameraIntrinsics intrinsics = 4;
}
}
@ -128,6 +137,39 @@ message StopCameraRecordingCommand {
}
}
message ControlPtzCommand {
enum Command {
COMMAND_UNSPECIFIED = 0;
TILT_UP = 1;
TILT_DOWN = 2;
PAN_LEFT = 3;
PAN_RIGHT = 4;
UP_LEFT = 5;
UP_RIGHT = 6;
DOWN_LEFT = 7;
DOWN_RIGHT = 8;
ZOOM_IN = 9;
ZOOM_OUT = 10;
PAN_AUTO = 11;
}
enum Action {
START = 0;
STOP = 1;
}
message Request {
CommandHeader.Request header = 1;
Command command = 2;
Action action = 3;
uint32 speed = 4;
}
message Feedback {
CommandHeader.Feedback header = 1;
}
}
message GetRGBImageStreamCommand {
message Request {
CommandHeader.Request header = 1;
@ -137,7 +179,7 @@ message GetRGBImageStreamCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
Rs2Intrinsics intrinsics = 3;
CameraIntrinsics intrinsics = 3;
int32 seq_no = 4;
}
}
@ -151,7 +193,7 @@ message GetDepthImageStreamCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData depth_frame = 2;
Rs2Intrinsics intrinsics = 3;
CameraIntrinsics intrinsics = 3;
int32 seq_no = 4;
}
}
@ -166,10 +208,9 @@ message GetRGBDImagesStreamCommand {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
FrameData depth_frame = 3;
Rs2Intrinsics intrinsics = 4;
CameraIntrinsics intrinsics = 4;
int32 seq_no = 5;
}
}

1
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_service.proto
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@ -14,6 +14,7 @@ service CameraService {
rpc GetRGBDImages(GetRGBDImagesCommand.Request) returns (GetRGBDImagesCommand.Feedback) {}
rpc StartRecording(StartCameraRecordingCommand.Request) returns (StartCameraRecordingCommand.Feedback) {}
rpc StopRecording(StopCameraRecordingCommand.Request) returns (StopCameraRecordingCommand.Feedback) {}
rpc ControlPtz(ControlPtzCommand.Request) returns (ControlPtzCommand.Feedback) {}
rpc GetRGBImageStream(stream GetRGBImageStreamCommand.Request) returns (stream GetRGBImageStreamCommand.Feedback) {}
rpc GetDepthImageStream(stream GetDepthImageStreamCommand.Request) returns (stream GetDepthImageStreamCommand.Feedback) {}

13
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/common.proto
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@ -35,6 +35,7 @@ message AudioData {
MP3 = 1;
AAC = 2;
WAV = 3;
OPUS = 4;
}
bytes data = 1;
int32 sample_rate = 2;
@ -57,3 +58,15 @@ message ConfigParam {
bytes bytes_value = 6; // 二进制数据类型
}
}
message JsonDeviceCommand {
message Request {
CommandHeader.Request header = 1;
string request_json = 2;
}
message Feedback {
CommandHeader.Feedback header = 1;
string response_json = 2;
}
}

4
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/dexhand_command.proto
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@ -9,7 +9,7 @@ message FreedomValue {
float value = 2; // 值 0-1百分比
}
message RH56DFTPDexHand {
message FreedomState {
int32 dof_id = 1; // 自由度ID，唯一标识不同的关节或自由度
int32 angle = 2; // 自由度角度
int32 speed = 3; // 自由度速度
@ -57,7 +57,7 @@ message SensorData {
message DexHandState {
bool is_initialized = 1; // 是否初始化
repeated RH56DFTPDexHand hands = 2; // 包含多个自由度状态
repeated FreedomState hands = 2; // 包含多个自由度状态
}
message GetDexHandStateCommand {

67
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/geometry.proto
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@ -1,67 +0,0 @@
syntax = "proto3";
package cmvr.api;
message Vec2 {
double x = 1;
double y = 2;
}
message Vec3 {
double x = 1;
double y = 2;
double z = 3;
}
message SE2Pose {
Vec2 position = 1; // (m)
double angle = 2; // (rad)
}
message SE2Velocity {
Vec2 linear = 1; // (m/s)
double angular = 2; // (rad/s)
}
message Quaternion {
double x = 1;
double y = 2;
double z = 3;
double w = 4;
}
message EulerAngleZYX {
double z = 1;
double y = 2;
double x = 3;
}
message SE3Pose {
Vec3 position = 1; // (m)
oneof rotation {
Quaternion quaternion = 2;
EulerAngleZYX euler = 3;
}
}
message Inertial {
// Mass (kg)
double mass = 1;
// Center of mass (m)
Vec3 center_of_mass = 2;
// Inertia tensor
Inertia inertia = 3;
}
// Inertia tensor components (kg*m^2)
message Inertia {
double ixx = 1;
double iyy = 2;
double izz = 3;
double ixy = 4;
double ixz = 5;
double iyz = 6;
}

151
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_command.proto Normal file
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@ -0,0 +1,151 @@
syntax = "proto3";
package cmvr.api;
import "cmvr/api/common.proto";
import "cmvr/msgs/motor.proto";
// Selects exactly one motor inside the MotorManager named by header.device_id.
message MotorTarget {
CommandHeader.Request header = 1;
oneof selector {
uint32 motor_id = 2;
string joint_name = 3;
}
}
message MotorWaitOptions {
// Zero selects the server default (30 seconds).
uint32 timeout_ms = 1;
// Zero selects the server default (10 milliseconds).
uint32 poll_period_ms = 2;
// Zero selects the server default.
double position_tolerance_rad = 3;
double velocity_tolerance_rad_s = 4;
// Number of consecutive in-tolerance samples. Zero selects the default (3).
uint32 settle_sample_count = 5;
}
enum MotorControlType {
MOTOR_CONTROL_NONE = 0;
MOTOR_CONTROL_SET_ZERO = 1;
MOTOR_CONTROL_PROFILE_POSITION = 2;
MOTOR_CONTROL_PROFILE_VELOCITY = 3;
MOTOR_CONTROL_CYCLIC_POSITION = 4;
MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
MOTOR_CONTROL_SET_ENABLED = 6;
}
message MotorStatus {
uint32 motor_id = 1;
string joint_name = 2;
cmvr.msgs.RunMode run_mode = 3;
double position_rad = 4;
double velocity_rad_s = 5;
bool target_reached = 6;
bool service_busy = 7;
MotorControlType active_control = 8;
bool emergency_stopped = 9;
string last_error = 10;
}
message MotorCommandResponse {
CommandHeader.Feedback header = 1;
MotorStatus status = 2;
uint64 elapsed_ms = 3;
}
message SetMotorZeroRequest {
MotorTarget target = 1;
}
message MoveMotorToZeroRequest {
MotorTarget target = 1;
double max_velocity_rad_s = 2;
double acceleration_rad_s2 = 3;
MotorWaitOptions wait = 4;
}
message ProfilePositionRequest {
MotorTarget target = 1;
double target_position_rad = 2;
double max_velocity_rad_s = 3;
double acceleration_rad_s2 = 4;
MotorWaitOptions wait = 5;
}
message ProfileVelocityRequest {
MotorTarget target = 1;
double target_velocity_rad_s = 2;
double acceleration_rad_s2 = 3;
MotorWaitOptions wait = 4;
}
message EmergencyStopRequest {
MotorTarget target = 1;
}
message GetMotorStatusRequest {
MotorTarget target = 1;
}
message GetMotorStatusResponse {
CommandHeader.Feedback header = 1;
MotorStatus status = 2;
}
message SetMotorEnabledRequest {
MotorTarget target = 1;
bool enabled = 2;
}
message CyclicStreamOpen {
MotorTarget target = 1;
// The PLC/driver watchdog is authoritative. This service watchdog prevents a
// stalled gRPC client from retaining control indefinitely.
uint32 watchdog_timeout_ms = 2;
}
message CyclicPositionSetpoint {
uint64 sequence = 1;
double target_position_rad = 2;
optional double target_velocity_rad_s = 3;
}
message CyclicVelocitySetpoint {
uint64 sequence = 1;
double target_velocity_rad_s = 2;
}
message CyclicPositionRequest {
oneof payload {
CyclicStreamOpen open = 1;
CyclicPositionSetpoint setpoint = 2;
}
}
message CyclicVelocityRequest {
oneof payload {
CyclicStreamOpen open = 1;
CyclicVelocitySetpoint setpoint = 2;
}
}
enum CyclicStreamPhase {
CYCLIC_STREAM_PHASE_UNSPECIFIED = 0;
CYCLIC_STREAM_OPENED = 1;
CYCLIC_STREAM_APPLIED = 2;
CYCLIC_STREAM_STOPPED = 3;
CYCLIC_STREAM_WATCHDOG_EXPIRED = 4;
CYCLIC_STREAM_FAILED = 5;
}
message CyclicControlResponse {
CommandHeader.Feedback header = 1;
CyclicStreamPhase phase = 2;
uint64 sequence = 3;
uint64 dropped_setpoints = 4;
// Present for OPENED and terminal responses. APPLIED deliberately omits
// live status so one cyclic sample does not trigger extra fieldbus reads.
MotorStatus status = 5;
}

21
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_service.proto Normal file
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@ -0,0 +1,21 @@
syntax = "proto3";
package cmvr.api;
import "cmvr/api/motor_command.proto";
service MotorService {
rpc setZero(SetMotorZeroRequest) returns (MotorCommandResponse);
rpc moveToZero(MoveMotorToZeroRequest) returns (MotorCommandResponse);
rpc profilePosition(ProfilePositionRequest) returns (MotorCommandResponse);
rpc profileVelocity(ProfileVelocityRequest) returns (MotorCommandResponse);
rpc streamCyclicPosition(stream CyclicPositionRequest)
returns (stream CyclicControlResponse);
rpc streamCyclicVelocity(stream CyclicVelocityRequest)
returns (stream CyclicControlResponse);
rpc emergencyStop(EmergencyStopRequest) returns (MotorCommandResponse);
rpc getStatus(GetMotorStatusRequest) returns (GetMotorStatusResponse);
rpc setEnabled(SetMotorEnabledRequest) returns (MotorCommandResponse);
}

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto
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@ -1,5 +1,6 @@
syntax = "proto3";
import "cmvr/api/common.proto";
import "cmvr/api/system_command.proto";
package cmvr.api;
@ -10,6 +11,7 @@ service SystemService {
rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback) {}
rpc StopAll(StopAllCommand.Request) returns (StopAllCommand.Feedback) {}
}

79
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/common/geometry.proto Normal file
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@ -0,0 +1,79 @@
syntax = "proto3";
package cmvr.common;
message Vec2 {
optional double x = 1;
optional double y = 2;
}
message Vec3 {
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
message Vec6 {
optional double x = 1;
optional double y = 2;
optional double z = 3;
optional double rx = 4;
optional double ry = 5;
optional double rz = 6;
}
message Quat {
optional double w = 1;
optional double x = 2;
optional double y = 3;
optional double z = 4;
}
message Euler {
optional double rx = 1;
optional double ry = 2;
optional double rz = 3;
}
message Pose3d {
Vec3 position = 1;
Quat quaternion = 2;
Euler euler = 3;
}
message Pose2d {
optional double x = 1;
optional double y = 2;
optional double theta = 3;
}
message Mat3 {
optional double m00 = 1;
optional double m01 = 2;
optional double m02 = 3;
optional double m10 = 4;
optional double m11 = 5;
optional double m12 = 6;
optional double m20 = 7;
optional double m21 = 8;
optional double m22 = 9;
}
message Mat4 {
optional double m00 = 1;
optional double m01 = 2;
optional double m02 = 3;
optional double m03 = 4;
optional double m10 = 5;
optional double m11 = 6;
optional double m12 = 7;
optional double m13 = 8;
optional double m20 = 9;
optional double m21 = 10;
optional double m22 = 11;
optional double m23 = 12;
optional double m30 = 13;
optional double m31 = 14;
optional double m32 = 15;
optional double m33 = 16;
}

55
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/can_card_parameter.proto Normal file
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@ -0,0 +1,55 @@
syntax = "proto3";
package cmvr.msgs;
message CANCardParameter {
enum CANCardBrand {
FAKE_CAN = 0;
ESD_CAN = 1;
SOCKET_CAN_RAW = 2;
HERMES_CAN = 3;
}
enum CANCardType {
PCI_CARD = 0;
USB_CARD = 1;
}
enum CANChannelId {
CHANNEL_ID_ZERO = 0;
CHANNEL_ID_ONE = 1;
CHANNEL_ID_TWO = 2;
CHANNEL_ID_THREE = 3;
CHANNEL_ID_FOUR = 4;
CHANNEL_ID_FIVE = 5;
CHANNEL_ID_SIX = 6;
CHANNEL_ID_SEVEN = 7;
}
enum CANInterface {
NATIVE = 0;
VIRTUAL = 1;
SLCAN = 2;
}
enum BAUDRATE {
BCAN_BAUDRATE_1M = 0;
BCAN_BAUDRATE_500K = 1;
BCAN_BAUDRATE_250K = 2;
BCAN_BAUDRATE_150K = 3;
BCAN_BAUDRATE_NUM = 4;
}
// CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
optional CANCardBrand brand = 1;
// CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
optional CANCardType type = 2;
// CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
optional CANChannelId channel_id = 3;
// CAN卡软件接口配置
optional CANInterface interface = 4;
// CAN卡端口数量配置
optional uint32 num_ports = 5;
// CAN卡波特率配置
optional BAUDRATE baudrate = 6;
}

157
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/canopen.proto Normal file
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@ -0,0 +1,157 @@
syntax = "proto3";
package cmvr.msgs;
message SdoFrame {
uint32 node_id = 1; // 节点ID
CommandSpecifier cs = 2; // SDO命令字
uint32 index = 3; // 对象字典索引
uint32 sub_index = 4; // 子索引
uint32 data = 5; // 数据区
}
enum PdoBaseId{
PDO_BASE_ID_UNSPECIFIED = 0;
RPDO1_BASE_ID_200 = 0x200;
RPDO2_BASE_ID_300 = 0x300;
RPDO3_BASE_ID_400 = 0x400;
RPDO4_BASE_ID_500 = 0x500;
TPDO1_BASE_ID_180 = 0x180;
TPDO2_BASE_ID_280 = 0x280;
TPDO3_BASE_ID_380 = 0x380;
TPDO4_BASE_ID_480 = 0x480;
}
// PDO 传输类型
enum TransmissionType {
// 同步传输
SYNC_EVENT_DRIVEN = 0x00; // 非循环同步
SYNC_CYCLIC = 0x01; // 循环同步
// 远程请求触发
REMOTE_SYNC = 0xFC; // 远程同步
REMOTE_ASYNC = 0xFD; // 远程异步
// 异步传输
ASYNC_MANUFACTURER_SPECIFIC = 0xFE; // 异步，制造商特定事件
ASYNC_DEVICE_SPECIFIC = 0xFF; // 异步，设备子协议特定事件
}
enum CommandSpecifier {
CS_NO = 0; // 默认无效
CS_WRITE_ONE_BYTE = 0x2F; // 写 1 字节
CS_WRITE_TWO_BYTES = 0x2B; // 写 2 字节
CS_WRITE_THREE_BYTES = 0x27; // 写 3 字节
CS_WRITE_FOUR_BYTES = 0x23; // 写 4 字节
CS_WRITE_SUCCESS_RESPONSE = 0x60; // 写成功响应
CS_READ_REQUEST = 0x40; // 发起读取请求
CS_READ_RESPONSE_ONE_BYTE = 0x4F; // 响应 1 字节
CS_READ_RESPONSE_TWO_BYTES = 0x4B;// 响应 2 字节
CS_READ_RESPONSE_THREE_BYTES = 0x47;
CS_READ_RESPONSE_FOUR_BYTES = 0x43;
CS_EXCEPTION_RESPONSE = 0x80; // 异常响应
}
enum NmtState {
// 0x00 - 正在初始化（Initializing）
NMT_INITIALIZING = 0x00;
// 0x01 - 未连接 / 应用复位（Reset Application）
NMT_RESET_APPLICATION = 0x01;
// 0x02 - 正在连接（Connecting）
NMT_CONNECTING = 0x02;
// 0x03 - 准备（Preparing）
NMT_PREPARING = 0x03;
// 0x04 - 停止状态（Stopped），开启 SDO，关闭 PDO
NMT_STOPPED = 0x04;
// 0x05 - 运行状态（Operational），开启 SDO、PDO、NMT
NMT_OPERATIONAL = 0x05;
// 0x7F - 预运行状态（Pre-Operational），开启 SDO，关闭 PDO
NMT_PRE_OPERATIONAL = 0x7F;
}
enum NmtCommand {
// 未指定命令
NMT_COMMAND_UNSPECIFIED = 0x00;
// 0x01 - 启动远程节点（Start Remote Node）
NMT_START_REMOTE_NODE = 0x01;
// 0x02 - 停止远程节点（Stop Remote Node）
NMT_STOP_REMOTE_NODE = 0x02;
// 0x80 - 进入预操作状态（Enter Pre-Operational）
NMT_ENTER_PRE_OPERATIONAL = 0x80;
// 0x81 - 复位节点（Reset Node）
NMT_RESET_NODE = 0x81;
// 0x82 - 复位通信（Reset Communication）
NMT_RESET_COMMUNICATION = 0x82;
}
// CANopen communication object dictionary indexes.
// CiA402 drive-profile objects are defined in cia402.proto.
enum CanopenObjectIndex {
CANOPEN_OBJECT_INDEX_ZERO = 0;
CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 0x1017;
// PDO 通信参数对象（Communication Object）
CANOPEN_RPDO1_COMM_1400 = 0x1400;
CANOPEN_RPDO2_COMM_1401 = 0x1401;
CANOPEN_RPDO3_COMM_1402 = 0x1402;
CANOPEN_RPDO4_COMM_1403 = 0x1403;
CANOPEN_TPDO1_COMM_1800 = 0x1800;
CANOPEN_TPDO2_COMM_1801 = 0x1801;
CANOPEN_TPDO3_COMM_1802 = 0x1802;
CANOPEN_TPDO4_COMM_1803 = 0x1803;
// PDO 映射对象（Mapping Object）
CANOPEN_RPDO1_MAP_1600 = 0x1600;
CANOPEN_RPDO2_MAP_1601 = 0x1601;
CANOPEN_RPDO3_MAP_1602 = 0x1602;
CANOPEN_RPDO4_MAP_1603 = 0x1603;
CANOPEN_TPDO1_MAP_1A00 = 0x1A00;
CANOPEN_TPDO2_MAP_1A01 = 0x1A01;
CANOPEN_TPDO3_MAP_1A02 = 0x1A02;
CANOPEN_TPDO4_MAP_1A03 = 0x1A03;
// Ti5 vendor-specific objects used through CANopen SDO.
CANOPEN_USER_SAVE_PARA_2000 = 0x2000;
CANOPEN_POSITION_OFFSET_2008 = 0x2008;
}
// 子索引
enum ObSubIndex {
SUB_INDEX_0 = 0;
SUB_INDEX_1 = 1;
SUB_INDEX_2 = 2;
SUB_INDEX_3 = 3;
SUB_INDEX_4 = 4;
SUB_INDEX_5 = 5;
SUB_INDEX_6 = 6;
SUB_INDEX_7 = 7;
}

64
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/cia402.proto Normal file
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@ -0,0 +1,64 @@
syntax = "proto3";
package cmvr.msgs;
// CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
enum Cia402ObjectIndex {
CIA402_OBJECT_INDEX_ZERO = 0;
CIA402_ERROR_CODE_603F = 0x603F;
CIA402_CONTROL_WORD_6040 = 0x6040;
CIA402_STATUS_WORD_6041 = 0x6041;
CIA402_QUICK_STOP_OPTION_605A = 0x605A;
CIA402_SHUTDOWN_OPTION_605B = 0x605B;
CIA402_DISABLE_OPERATION_OPTION_605C = 0x605C;
CIA402_HALT_OPTION_605D = 0x605D;
CIA402_FAULT_REACTION_OPTION_605E = 0x605E;
CIA402_OPERATION_MODE_6060 = 0x6060;
CIA402_MODE_DISPLAY_6061 = 0x6061;
CIA402_POSITION_DEMAND_VALUE_6062 = 0x6062;
CIA402_ACTUAL_POSITION_6064 = 0x6064;
CIA402_MAX_FOLLOWING_ERROR_6065 = 0x6065;
CIA402_POSITION_WINDOW_6067 = 0x6067;
CIA402_POSITION_WINDOW_TIME_6068 = 0x6068;
CIA402_VELOCITY_DEMAND_VALUE_606B = 0x606B;
CIA402_ACTUAL_VELOCITY_606C = 0x606C;
CIA402_VELOCITY_WINDOW_606D = 0x606D;
CIA402_VELOCITY_WINDOW_TIME_606E = 0x606E;
CIA402_VELOCITY_THRESHOLD_606F = 0x606F;
CIA402_VELOCITY_THRESHOLD_TIME_6070 = 0x6070;
CIA402_TARGET_TORQUE_6071 = 0x6071;
CIA402_MAX_TORQUE_6072 = 0x6072;
CIA402_TORQUE_DEMAND_VALUE_6074 = 0x6074;
CIA402_MOTOR_RATED_TORQUE_6076 = 0x6076;
CIA402_ACTUAL_TORQUE_6077 = 0x6077;
CIA402_ACTUAL_CURRENT_6078 = 0x6078;
CIA402_DC_LINK_VOLTAGE_6079 = 0x6079;
CIA402_TARGET_POSITION_607A = 0x607A;
CIA402_HOME_OFFSET_607C = 0x607C;
CIA402_SOFTWARE_POSITION_LIMIT_607D = 0x607D;
CIA402_MAX_PROFILE_VELOCITY_607F = 0x607F;
CIA402_PROFILE_VELOCITY_6081 = 0x6081;
CIA402_PROFILE_ACCELERATION_6083 = 0x6083;
CIA402_PROFILE_DECELERATION_6084 = 0x6084;
CIA402_QUICK_STOP_DECELERATION_6085 = 0x6085;
CIA402_TORQUE_SLOPE_6087 = 0x6087;
CIA402_GEAR_RATIO_6091 = 0x6091;
CIA402_VELOCITY_OFFSET_60B1 = 0x60B1;
CIA402_TORQUE_OFFSET_60B2 = 0x60B2;
CIA402_INTERPOLATION_DATA_RECORD_60C1 = 0x60C1;
CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 0x60C2;
CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 0x60F4;
CIA402_TARGET_VELOCITY_60FF = 0x60FF;
CIA402_SUPPORTED_DRIVE_MODES_6502 = 0x6502;
}

29
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/error_code.proto Normal file
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@ -0,0 +1,29 @@
syntax = "proto3";
package cmvr.msgs;
// Error codes enum for API's categorized by modules.
enum ErrorCode {
// No error, returns on success.
OK = 0;
// Canbus module error codes start from here.
CANBUS_ERROR = 2000;
CAN_CLIENT_ERROR_BASE = 2100;
CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;
CAN_CLIENT_ERROR_FRAME_NUM = 2102;
CAN_CLIENT_ERROR_SEND_FAILED = 2103;
CAN_CLIENT_ERROR_RECV_FAILED = 2104;
// motor
MOTOR_ERROR = 3000;
MOTOR_ERROR_SET_ZERO = 3001;
}
message StatusPb {
ErrorCode error_code = 1;
string msg = 2;
}

116
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/motor.proto Normal file
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@ -0,0 +1,116 @@
syntax = "proto3";
import "cmvr/msgs/canopen.proto";
package cmvr.msgs;
/* --------------------------------------------------------
* CAN OPEN 定义
* --------------------------------------------------------*/
// 电机控制模式（Operation Mode）
enum RunMode {
// 未指定
RUN_MODE_UNSPECIFIED = 0;
// Profile Position Mode - 位置模式
RUN_MODE_PROFILE_POSITION = 1;
// Velocity Mode - 简单速度模式
RUN_MODE_VELOCITY = 2;
// Profile Velocity Mode - 速度模式（带轮廓）
RUN_MODE_PROFILE_VELOCITY = 3;
// Torque Mode - 转矩模式
RUN_MODE_TORQUE = 4;
// Homing Mode - 回零模式
RUN_MODE_HOMING = 5;
// Interpolation Mode - 位置插补模式
RUN_MODE_INTERPOLATED_POSITION = 7;
// Cyclic Synchronous Position Mode - 周期位置模式
RUN_MODE_CYCLIC_SYNC_POSITION = 8;
// Cyclic Synchronous Velocity Mode - 周期速度模式
RUN_MODE_CYCLIC_SYNC_VELOCITY = 9;
// Cyclic Synchronous Current Mode - 周期转矩模式
RUN_MODE_CYCLIC_SYNC_CURRENT = 10;
}
// 电机状态数据
message MotorStatus {
RunMode run_mode = 1; // 当前运行模式
int32 current = 2; // 当前电流（单位：mA）
int32 target_current = 3; // 目标电流（单位：mA）
int32 speed = 4; // 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
int32 target_speed = 5; // 目标速度，单位同上
int32 position = 6; // 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
int32 target_position = 7; // 目标位置（非位置模式无效）
uint32 error_state = 8; // 错误状态位（见位说明）
int32 speed_kp = 9; // 速度环Kp，含模式和速度信息（bit复用）
int32 speed_ki = 10; // 速度环Ki，含模式和速度信息（bit复用）
int32 speed_kd = 11; // 速度环Kd
int32 position_kp = 12; // 位置环Kp
int32 position_ki = 13; // 位置环Ki
int32 position_kd = 14; // 位置环Kd
int32 bus_voltage = 15; // 母线电压
int32 max_abs_current = 16; // 最大电流绝对值（单位：mA）
int32 max_pos_current = 17; // 最大正电流（单位：mA）
int32 min_neg_current = 18; // 最小负电流（单位：mA）
int32 max_pos_accel = 19; // 最大正向加速度
int32 min_neg_accel = 20; // 最小负向加速度
int32 max_pos_velocity = 21; // 最大正向速度（转化为度/秒）
int32 min_neg_velocity = 22; // 最小负向速度（转化为度/秒）
int32 max_pos_position = 23; // 最大正向位置（角度）
int32 min_neg_position = 24; // 最小负向位置（角度）
int32 motor_temp = 25; // 电机温度（单位：摄氏度）
int32 board_temp = 26; // 电路板温度（单位：摄氏度）
int32 current_kp = 27; // 电流P
int32 current_ki = 28; // 电流I
int32 current_kd = 29; // 电流D
int32 motor_type = 30; // 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
int32 motor_version = 31; // 电机版本号（软件+硬件，16进制格式）
int32 software_version = 32;// 软件版本号（16进制格式）
int32 position_offset = 33; // 当前位置偏移（编码器位置 - 偏移值）
bytes csp_data = 34; // 获取CSP，8字节数据
int32 encoder_voltage = 35; // 编码器电池电压（新版硬件支持）
int32 encoder_state = 36; // 编码器状态（双编码器=外圈位置，单编码器=状态）
int32 overvoltage_limit = 37; // 过压阈值（单位：V）
int32 undervoltage_limit = 38; // 欠压阈值（单位：V）
int32 coil_over_temp = 39; // 电机线圈过温阈值（单位：℃）
int32 driver_over_temp = 40; // 驱动板过温阈值（单位：℃）
/* ---------------------
* CANOPEN 特有的参数
* --------------------*/
SdoFrame sdo_response = 41;
NmtState nmt_state = 42;
// 只保留值，具体值在使用的时候使用联合体去解析
uint32 ctrl_word = 43;
uint32 status_word = 44;
}

13
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/robot_detail.proto Normal file
View File

@ -0,0 +1,13 @@
syntax = "proto3";
import "cmvr/msgs/motor.proto";
package cmvr.msgs;
// 包含机器人的所有信息
message RobotDetail{
// key 电机 nodeid
map<uint32, MotorStatus> motors = 1; // node_id => status
}

4
cmvr-iot-common/src/main/java/com/cmvr/common/core/domain/BaseEntity.java
View File

@ -35,11 +35,11 @@ public class BaseEntity implements Serializable
private Date createTime;
/** 更新者 */
@TableField(fill = FieldFill.UPDATE)
@TableField(fill = FieldFill.INSERT_UPDATE)
private String updateBy;
/** 更新时间 */
@TableField(fill = FieldFill.UPDATE)
@TableField(fill = FieldFill.INSERT_UPDATE)
@JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
private Date updateTime;

6
cmvr-iot-framework/pom.xml
View File

@ -68,6 +68,12 @@
<artifactId>spring-boot-starter-websocket</artifactId>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-test</artifactId>
<scope>test</scope>
</dependency>
</dependencies>
</project>

12
cmvr-iot-framework/src/main/java/com/cmvr/framework/config/MyBatisConfig.java
View File

@ -7,11 +7,14 @@ import java.util.HashSet;
import java.util.List;
import javax.sql.DataSource;
import org.apache.ibatis.io.VFS;
import org.apache.ibatis.plugin.Interceptor;
import org.apache.ibatis.session.SqlSessionFactory;
import com.baomidou.mybatisplus.core.config.GlobalConfig;
import com.baomidou.mybatisplus.core.handlers.MetaObjectHandler;
import com.baomidou.mybatisplus.core.toolkit.GlobalConfigUtils;
import com.baomidou.mybatisplus.spring.MybatisSqlSessionFactoryBean;
import com.github.yulichang.injector.MPJSqlInjector;
import com.cmvr.framework.mybatisPlus.AuditFieldInterceptor;
import org.mybatis.spring.boot.autoconfigure.SpringBootVFS;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Bean;
@ -117,7 +120,9 @@ public class MyBatisConfig
}
@Bean
public SqlSessionFactory sqlSessionFactory(DataSource dataSource, MPJSqlInjector mpjSqlInjector) throws Exception
public SqlSessionFactory sqlSessionFactory(DataSource dataSource, MPJSqlInjector mpjSqlInjector,
MetaObjectHandler metaObjectHandler, Interceptor[] interceptors,
AuditFieldInterceptor auditFieldInterceptor) throws Exception
{
String typeAliasesPackage = env.getProperty("mybatis-plus.typeAliasesPackage",
env.getProperty("mybatis.typeAliasesPackage", "com.cmvr.**.domain"));
@ -132,8 +137,13 @@ public class MyBatisConfig
sessionFactory.setTypeAliasesPackage(typeAliasesPackage);
sessionFactory.setMapperLocations(resolveMapperLocations(StringUtils.split(mapperLocations, ",")));
sessionFactory.setConfigLocation(new DefaultResourceLoader().getResource(configLocation));
List<Interceptor> orderedInterceptors = new ArrayList<>(Arrays.asList(interceptors));
orderedInterceptors.remove(auditFieldInterceptor);
orderedInterceptors.add(auditFieldInterceptor);
sessionFactory.setPlugins(orderedInterceptors.toArray(new Interceptor[0]));
GlobalConfig globalConfig = GlobalConfigUtils.defaults();
globalConfig.setSqlInjector(mpjSqlInjector);
globalConfig.setMetaObjectHandler(metaObjectHandler);
sessionFactory.setGlobalConfig(globalConfig);
return sessionFactory.getObject();
}

7
cmvr-iot-framework/src/main/java/com/cmvr/framework/config/ResourcesConfig.java
View File

@ -8,6 +8,7 @@ import org.springframework.http.CacheControl;
import org.springframework.web.cors.CorsConfiguration;
import org.springframework.web.cors.UrlBasedCorsConfigurationSource;
import org.springframework.web.filter.CorsFilter;
import org.springframework.web.servlet.config.annotation.AsyncSupportConfigurer;
import org.springframework.web.servlet.config.annotation.InterceptorRegistry;
import org.springframework.web.servlet.config.annotation.ResourceHandlerRegistry;
import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
@ -26,6 +27,12 @@ public class ResourcesConfig implements WebMvcConfigurer
@Autowired
private RepeatSubmitInterceptor repeatSubmitInterceptor;
@Override
public void configureAsyncSupport(AsyncSupportConfigurer configurer)
{
configurer.setDefaultTimeout(0L);
}
@Override
public void addResourceHandlers(ResourceHandlerRegistry registry)
{

3
cmvr-iot-framework/src/main/java/com/cmvr/framework/config/SecurityConfig.java
View File

@ -105,7 +105,8 @@ public class SecurityConfig
.requestMatchers(HttpMethod.GET, "/", "/*.html", "/**.html", "/**.css", "/**.js", "/profile/**").permitAll()
.requestMatchers("/doc.html", "/swagger-ui.html", "/v3/api-docs/**", "/swagger-ui/**",
"/webjars/**", "/druid/**").permitAll()
.requestMatchers("/system/file/upload", "/evaluation/callback", "/flow/**", "/flowise/**",
.requestMatchers("/api/edge/camera/rgb-stream", "/api/edge/camera/rgb-stream/public",
"/system/file/upload", "/evaluation/callback", "/flow/**", "/flowise/**",
"/kws/**", "/ws/**", "/api/grpc/**", "/show/**", "/node-red/**",
"/swagger-resources/**", "/webjars/**", "/*/api-docs", "/ti/**",
"/flow/execute").permitAll()

110
cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptor.java Normal file
View File

@ -0,0 +1,110 @@
package com.cmvr.framework.mybatisPlus;
import java.lang.reflect.Array;
import java.util.Collections;
import java.util.IdentityHashMap;
import java.util.Map;
import java.util.Set;
import org.apache.ibatis.executor.Executor;
import org.apache.ibatis.mapping.MappedStatement;
import org.apache.ibatis.mapping.SqlCommandType;
import org.apache.ibatis.plugin.Interceptor;
import org.apache.ibatis.plugin.Intercepts;
import org.apache.ibatis.plugin.Invocation;
import org.apache.ibatis.plugin.Signature;
import org.apache.ibatis.reflection.MetaObject;
import org.apache.ibatis.reflection.SystemMetaObject;
import org.springframework.stereotype.Component;
/**
* Fills audit fields before dynamic XML SQL is evaluated.
*/
@Component
@Intercepts({
@Signature(type = Executor.class, method = "update", args = {MappedStatement.class, Object.class})
})
public class AuditFieldInterceptor implements Interceptor
{
private final MyMetaObjectHandler metaObjectHandler;
public AuditFieldInterceptor(MyMetaObjectHandler metaObjectHandler)
{
this.metaObjectHandler = metaObjectHandler;
}
@Override
public Object intercept(Invocation invocation) throws Throwable
{
MappedStatement mappedStatement = (MappedStatement) invocation.getArgs()[0];
SqlCommandType commandType = mappedStatement.getSqlCommandType();
if (commandType == SqlCommandType.INSERT || commandType == SqlCommandType.UPDATE)
{
fillAuditFields(invocation.getArgs()[1], commandType);
}
return invocation.proceed();
}
void fillAuditFields(Object parameter, SqlCommandType commandType)
{
Set<Object> visited = Collections.newSetFromMap(new IdentityHashMap<>());
fill(parameter, commandType, visited);
}
private void fill(Object parameter, SqlCommandType commandType, Set<Object> visited)
{
if (parameter == null || isSimpleValue(parameter) || !visited.add(parameter))
{
return;
}
if (parameter instanceof Map<?, ?> map)
{
map.values().forEach(value -> fill(value, commandType, visited));
return;
}
if (parameter instanceof Iterable<?> iterable)
{
iterable.forEach(value -> fill(value, commandType, visited));
return;
}
if (parameter.getClass().isArray())
{
for (int index = 0; index < Array.getLength(parameter); index++)
{
fill(Array.get(parameter, index), commandType, visited);
}
return;
}
MetaObject metaObject = SystemMetaObject.forObject(parameter);
if (!hasAuditField(metaObject))
{
return;
}
if (commandType == SqlCommandType.INSERT)
{
metaObjectHandler.insertFill(metaObject);
}
else
{
metaObjectHandler.updateFill(metaObject);
}
}
private boolean hasAuditField(MetaObject metaObject)
{
return metaObject.hasSetter(MyMetaObjectHandler.CREATE_BY)
|| metaObject.hasSetter(MyMetaObjectHandler.CREATE_TIME)
|| metaObject.hasSetter(MyMetaObjectHandler.UPDATE_BY)
|| metaObject.hasSetter(MyMetaObjectHandler.UPDATE_TIME);
}
private boolean isSimpleValue(Object value)
{
return value instanceof CharSequence
|| value instanceof Number
|| value instanceof Boolean
|| value instanceof Character
|| value instanceof Enum<?>;
}
}

23
cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/MyMetaObjectHandler.java
View File

@ -32,13 +32,14 @@ public class MyMetaObjectHandler implements MetaObjectHandler {
username = "anonymous"; // 匿名接口默认值
}
// 起始版本 3.3.0(推荐使用)
this.setFieldValByName(CREATE_BY, username, metaObject);
this.setFieldValByName(CREATE_TIME, currentTime(metaObject, CREATE_TIME), metaObject);
this.setFieldValByName(UPDATE_BY, username, metaObject);
this.setFieldValByName(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
this.setFieldValByName(DELETED, "0", metaObject);
setFieldValIfPresent(CREATE_BY, username, metaObject);
setFieldValIfPresent(CREATE_TIME, currentTime(metaObject, CREATE_TIME), metaObject);
setFieldValIfPresent(UPDATE_BY, username, metaObject);
setFieldValIfPresent(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
setFieldValIfPresent(DELETED, "0", metaObject);
// this.setFieldValByName(STATUS, "1", metaObject);
if (getFieldValByName(STATUS, metaObject) == null) {
if (metaObject.hasSetter(STATUS) && metaObject.hasGetter(STATUS)
&& getFieldValByName(STATUS, metaObject) == null) {
this.setFieldValByName(STATUS, "1", metaObject);
}
}
@ -55,8 +56,14 @@ public class MyMetaObjectHandler implements MetaObjectHandler {
} catch (Exception e) {
username = "anonymous"; // 匿名接口默认值
}
this.setFieldValByName(UPDATE_BY, username, metaObject);
this.setFieldValByName(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
setFieldValIfPresent(UPDATE_BY, username, metaObject);
setFieldValIfPresent(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
}
private void setFieldValIfPresent(String fieldName, Object value, MetaObject metaObject) {
if (value != null && metaObject.hasSetter(fieldName)) {
this.setFieldValByName(fieldName, value, metaObject);
}
}
private Object currentTime(MetaObject metaObject, String fieldName) {

21
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java
View File

@ -3,6 +3,7 @@ package com.cmvr.framework.websocket.handler;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import com.cmvr.framework.websocket.message.WSChannelSubscriptionMessage;
import com.cmvr.framework.websocket.service.GrpcClientService;
import com.cmvr.framework.websocket.service.MessagePushService;
import lombok.RequiredArgsConstructor;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@ -16,6 +17,7 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
protected final Logger log = LoggerFactory.getLogger(getClass());
protected final ChannelSubscriptionManager channelSubscriptionManager;
protected final GrpcClientService grpcClientService;
protected final MessagePushService messagePushService;
/**
* 是否需要GRPC远程调用
@ -53,8 +55,18 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
/** 订阅统一模板 */
private void doSubscribe(String channel, WebSocketSession session) {
boolean needGrpc = isNeedGrpc(channel);
// 先完成本地订阅，避免远端流启动后首批媒体数据因“无人订阅”而丢失。
boolean firstSubscriber = channelSubscriptionManager.subscribe(
channel,
session,
() -> {
if (needGrpc) {
messagePushService.replayH264Fmp4Init(channel, session);
}
}
);
// 没人订阅 + 需要grpc → 发起远端订阅
if (needGrpc && !channelSubscriptionManager.hasSubscribers(channel)) {
if (needGrpc && firstSubscriber) {
String[] params = parseGrpcParam(channel);
String service = params[0];
String method = params[1];
@ -68,12 +80,11 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
}
});
}
// 本地统一订阅
channelSubscriptionManager.subscribe(channel, session);
}
/** 取消订阅统一模板 */
private void doUnSubscribe(String channel, WebSocketSession session) {
messagePushService.cancelMediaInitReplay(channel, session);
channelSubscriptionManager.unsubscribe(channel, session);
boolean needGrpc = isNeedGrpc(channel);
// 无任何订阅 + 需要grpc → 远端取消
@ -88,6 +99,10 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
grpcClientService.send(false, terminalId, deviceId, service, method);
} catch (Exception e) {
log.error("频道{} grpc取消订阅异常", channel, e);
} finally {
if (!channelSubscriptionManager.hasSubscribers(channel)) {
messagePushService.clearMediaChannel(channel);
}
}
});
}

7
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/ChannelSubscriptionMessageHandler.java
View File

@ -5,6 +5,7 @@ import com.cmvr.framework.websocket.enums.WSMessageTypeEnum;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import com.cmvr.framework.websocket.message.WSChannelSubscriptionMessage;
import com.cmvr.framework.websocket.service.GrpcClientService;
import com.cmvr.framework.websocket.service.MessagePushService;
import org.springframework.stereotype.Component;
@ -12,8 +13,10 @@ import org.springframework.stereotype.Component;
@WSMessageType(value = WSMessageTypeEnum.CHANNEL_SUBSCRIPTION, messageClass = WSChannelSubscriptionMessage.class)
public class ChannelSubscriptionMessageHandler extends BaseChannelSubscribeHandler {
public ChannelSubscriptionMessageHandler(ChannelSubscriptionManager channelSubscriptionManager, GrpcClientService grpcClientService) {
super(channelSubscriptionManager, grpcClientService);
public ChannelSubscriptionMessageHandler(ChannelSubscriptionManager channelSubscriptionManager,
GrpcClientService grpcClientService,
MessagePushService messagePushService) {
super(channelSubscriptionManager, grpcClientService, messagePushService);
}
// 当前频道带 / 分段，需要grpc

29
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/SimpleChannelSubscribeHandler.java
View File

@ -1,29 +0,0 @@
package com.cmvr.framework.websocket.handler;
import com.cmvr.framework.websocket.annotation.WSMessageType;
import com.cmvr.framework.websocket.enums.WSMessageTypeEnum;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import com.cmvr.framework.websocket.message.WSChannelSubscriptionMessage;
import com.cmvr.framework.websocket.service.GrpcClientService;
import org.springframework.stereotype.Component;
@Component
@WSMessageType(value = WSMessageTypeEnum.CHANNEL_SUBSCRIPTION, messageClass = WSChannelSubscriptionMessage.class)
public class SimpleChannelSubscribeHandler extends BaseChannelSubscribeHandler {
public SimpleChannelSubscribeHandler(ChannelSubscriptionManager channelSubscriptionManager, GrpcClientService grpcClientService) {
super(channelSubscriptionManager, grpcClientService);
}
// 简单频道不需要grpc调用
@Override
protected boolean isNeedGrpc(String channel) {
return false;
}
// 不会执行到，随便返回
@Override
protected String[] parseGrpcParam(String channel) {
return new String[0];
}
}

31
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/manager/ChannelSubscriptionManager.java
View File

@ -4,6 +4,7 @@ import org.springframework.stereotype.Component;
import org.springframework.web.socket.WebSocketSession;
import java.util.Collections;
import java.util.HashSet;
import java.util.Map;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
@ -14,8 +15,21 @@ public class ChannelSubscriptionManager {
// 频道 -> 连接集合
private final Map<String, Set<WebSocketSession>> channelSessions = new ConcurrentHashMap<>();
public void subscribe(String channel, WebSocketSession session) {
channelSessions.computeIfAbsent(channel, k -> ConcurrentHashMap.newKeySet()).add(session);
/**
* @return 当前会话是否是该频道的第一个订阅者
*/
public boolean subscribe(String channel, WebSocketSession session, Runnable beforeJoinExistingChannel) {
boolean[] firstSubscriber = new boolean[1];
channelSessions.compute(channel, (key, sessions) -> {
Set<WebSocketSession> target = sessions == null ? ConcurrentHashMap.newKeySet() : sessions;
firstSubscriber[0] = target.isEmpty();
if (!firstSubscriber[0]) {
beforeJoinExistingChannel.run();
}
target.add(session);
return target;
});
return firstSubscriber[0];
}
public void unsubscribe(String channel, WebSocketSession session) {
@ -36,8 +50,17 @@ public class ChannelSubscriptionManager {
return channelSessions.containsKey(channel);
}
public void clearSession(WebSocketSession session) {
channelSessions.keySet().forEach(channel -> unsubscribe(channel, session));
/**
* 清理连接的所有频道，并返回因此失去最后一个订阅者的频道。
*/
public Set<String> clearSession(WebSocketSession session) {
Set<String> emptiedChannels = new HashSet<>();
channelSessions.forEach((channel, sessions) -> {
if (sessions.remove(session) && sessions.isEmpty() && channelSessions.remove(channel, sessions)) {
emptiedChannels.add(channel);
}
});
return emptiedChannels;
}
}

8
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistry.java
View File

@ -26,7 +26,13 @@ public class MessageHandlerRegistry implements ApplicationContextAware {
if (bean instanceof WSMessageHandler) {
WSMessageHandler<?> handler = (WSMessageHandler<?>) bean;
WSMessageType anno = bean.getClass().getAnnotation(WSMessageType.class);
handlerMap.put(anno.value(), new HandlerEntry<>(handler, anno.messageClass()));
HandlerEntry<?, ?> previous = handlerMap.putIfAbsent(
anno.value(), new HandlerEntry<>(handler, anno.messageClass()));
if (previous != null) {
throw new IllegalStateException("Duplicate WebSocket message handler for "
+ anno.value() + ": " + previous.getHandler().getClass().getName()
+ " and " + handler.getClass().getName());
}
}
}
}

28
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/server/WSServer.java
View File

@ -4,6 +4,8 @@ package com.cmvr.framework.websocket.server;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import com.cmvr.framework.websocket.manager.WSSessionManager;
import com.cmvr.framework.websocket.registry.MessageHandlerRegistry;
import com.cmvr.framework.websocket.service.GrpcClientService;
import com.cmvr.framework.websocket.service.MessagePushService;
import tools.jackson.databind.JsonNode;
import tools.jackson.databind.ObjectMapper;
import tools.jackson.databind.node.ObjectNode;
@ -18,6 +20,8 @@ import org.springframework.web.socket.handler.TextWebSocketHandler;
import java.net.URI;
import java.util.Objects;
import java.util.Set;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.Semaphore;
import java.util.concurrent.atomic.AtomicInteger;
@ -51,6 +55,12 @@ public class WSServer extends TextWebSocketHandler {
@Autowired
private ChannelSubscriptionManager channelSubscriptionManager;
@Autowired
private GrpcClientService grpcClientService;
@Autowired
private MessagePushService messagePushService;
@Override
public void afterConnectionEstablished(@NotNull WebSocketSession session) throws Exception {
if (!SEMAPHORE.tryAcquire()) {
@ -85,11 +95,27 @@ public class WSServer extends TextWebSocketHandler {
SEMAPHORE.release();
sessionManager.removeSession(session);
messagePushService.removeSession(session);
// 清除通道session
channelSubscriptionManager.clearSession(session);
Set<String> emptiedChannels = channelSubscriptionManager.clearSession(session);
emptiedChannels.forEach(this::stopGrpcChannel);
log.info("连接关闭 sid={}，当前在线：{}", session.getAttributes().get("userId"), ONLINE_COUNT.get());
}
private void stopGrpcChannel(String channel) {
String[] params = channel.split("/");
if (params.length != 4) {
return;
}
CompletableFuture.runAsync(() -> grpcClientService.send(
false, params[2], params[3], params[0], params[1]
)).whenComplete((ignored, throwable) -> {
if (!channelSubscriptionManager.hasSubscribers(channel)) {
messagePushService.clearMediaChannel(channel);
}
});
}
public static JsonNode buildCommonMessage(String content) {
ObjectNode node = new ObjectMapper().createObjectNode();

185
cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/MessagePushService.java
View File

@ -13,6 +13,12 @@ import org.springframework.web.socket.WebSocketSession;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.nio.charset.StandardCharsets;
import java.util.Arrays;
import java.util.Map;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
import java.util.zip.GZIPOutputStream;
@ -20,11 +26,18 @@ import java.util.zip.GZIPOutputStream;
public class MessagePushService {
private static final Logger log = LoggerFactory.getLogger(MessagePushService.class);
private static final byte[] MEDIA_MAGIC = new byte[]{'C', 'M', 'V', 'F'};
private static final byte MEDIA_VERSION = 1;
private static final byte MEDIA_TYPE_H264_FMP4 = 1;
private static final int MEDIA_HEADER_SIZE = 26;
private static final int MAX_MEDIA_INIT_SIZE = 1024 * 1024;
@Autowired
private ChannelSubscriptionManager subscriptionManager;
private final ObjectMapper objectMapper = new ObjectMapper();
private final Map<String, MediaBootstrap> mediaBootstraps = new ConcurrentHashMap<>();
private final Map<String, Set<WebSocketSession>> mediaInitWaiters = new ConcurrentHashMap<>();
public void pushToChannel(String channel, Object payload) {
try {
@ -35,24 +48,12 @@ public class MessagePushService {
String json = objectMapper.writeValueAsString(message);
byte[] data = json.getBytes();
byte[] data = json.getBytes(StandardCharsets.UTF_8);
// 压缩数据
byte[] compressedData = compress(data);
BinaryMessage binaryMessage = new BinaryMessage(compressedData);
if (!subscriptionManager.hasSubscribers(channel)) {
throw new GlobalException("没有订阅该频道的会话");
}
subscriptionManager.getSubscribedSessions(channel).stream()
.filter(WebSocketSession::isOpen)
.forEach(session -> {
try {
session.sendMessage(binaryMessage);
} catch (IOException e) {
log.error("消息发送失败: {}", e.getMessage());
}
});
sendToChannel(channel, compressedData);
} catch (GlobalException e) {
throw new GlobalException(e.getMessage());
@ -61,6 +62,124 @@ public class MessagePushService {
}
}
/**
* 推送连续 H.264 fragmented MP4 数据。媒体负载不再进行 Base64、JSON 或 GZIP 编码。
*/
public void pushH264Fmp4ToChannel(String channel, byte[] payload, int sequence) {
if (payload == null || payload.length == 0) {
return;
}
if (sequence == 1) {
mediaBootstraps.put(channel, new MediaBootstrap());
}
MediaBootstrap bootstrap = mediaBootstraps.computeIfAbsent(channel, key -> new MediaBootstrap());
bootstrap.accept(payload);
replayWaitingMediaInit(channel, bootstrap);
if (!subscriptionManager.hasSubscribers(channel)) {
return;
}
sendToChannel(channel, buildMediaPacket(channel, payload, sequence));
}
/** 给中途加入频道的会话补发fMP4初始化段。 */
public void replayH264Fmp4Init(String channel, WebSocketSession session) {
if (!channel.contains("/getRGBImageStream/")) {
return;
}
MediaBootstrap bootstrap = mediaBootstraps.get(channel);
byte[] initSegment = bootstrap == null ? null : bootstrap.getInitSegment();
if (initSegment == null) {
mediaInitWaiters.computeIfAbsent(channel, key -> ConcurrentHashMap.newKeySet()).add(session);
return;
}
sendMediaInit(channel, session, initSegment);
}
public void cancelMediaInitReplay(String channel, WebSocketSession session) {
Set<WebSocketSession> sessions = mediaInitWaiters.get(channel);
if (sessions != null) {
sessions.remove(session);
if (sessions.isEmpty()) {
mediaInitWaiters.remove(channel, sessions);
}
}
}
public void removeSession(WebSocketSession session) {
mediaInitWaiters.forEach((channel, sessions) -> {
sessions.remove(session);
if (sessions.isEmpty()) {
mediaInitWaiters.remove(channel, sessions);
}
});
}
public void clearMediaChannel(String channel) {
mediaBootstraps.remove(channel);
mediaInitWaiters.remove(channel);
}
private void replayWaitingMediaInit(String channel, MediaBootstrap bootstrap) {
byte[] initSegment = bootstrap.getInitSegment();
if (initSegment == null) {
return;
}
Set<WebSocketSession> sessions = mediaInitWaiters.remove(channel);
if (sessions != null) {
sessions.forEach(session -> sendMediaInit(channel, session, initSegment));
}
}
private void sendMediaInit(String channel, WebSocketSession session, byte[] initSegment) {
if (!session.isOpen()) {
return;
}
try {
synchronized (session) {
session.sendMessage(new BinaryMessage(buildMediaPacket(channel, initSegment, 0)));
}
} catch (IOException exception) {
log.error("频道{}媒体初始化段补发失败: {}", channel, exception.getMessage());
}
}
private byte[] buildMediaPacket(String channel, byte[] payload, int sequence) {
byte[] channelBytes = channel.getBytes(StandardCharsets.UTF_8);
if (channelBytes.length > 0xFFFF) {
throw new IllegalArgumentException("WebSocket媒体频道名称过长: " + channel);
}
ByteBuffer buffer = ByteBuffer.allocate(MEDIA_HEADER_SIZE + channelBytes.length + payload.length);
buffer.put(MEDIA_MAGIC);
buffer.put(MEDIA_VERSION);
buffer.put(MEDIA_TYPE_H264_FMP4);
buffer.putShort((short) 0);
buffer.putLong(System.currentTimeMillis());
buffer.putInt(sequence);
buffer.putShort((short) channelBytes.length);
buffer.putInt(payload.length);
buffer.put(channelBytes);
buffer.put(payload);
return buffer.array();
}
private void sendToChannel(String channel, byte[] payload) {
subscriptionManager.getSubscribedSessions(channel).stream()
.filter(WebSocketSession::isOpen)
.forEach(session -> {
try {
// Spring原生WebSocketSession不允许多个线程并发发送。
synchronized (session) {
session.sendMessage(new BinaryMessage(payload));
}
} catch (IOException e) {
log.error("频道{}消息发送失败: {}", channel, e.getMessage());
}
});
}
private byte[] compress(byte[] data) throws IOException {
ByteArrayOutputStream baos = new ByteArrayOutputStream();
try (GZIPOutputStream gzip = new GZIPOutputStream(baos)) {
@ -68,4 +187,42 @@ public class MessagePushService {
}
return baos.toByteArray();
}
private static final class MediaBootstrap {
private final ByteArrayOutputStream data = new ByteArrayOutputStream(64 * 1024);
private byte[] initSegment;
private synchronized void accept(byte[] chunk) {
if (initSegment != null || data.size() >= MAX_MEDIA_INIT_SIZE) {
return;
}
data.write(chunk, 0, Math.min(chunk.length, MAX_MEDIA_INIT_SIZE - data.size()));
byte[] combined = data.toByteArray();
int moofTypeOffset = findAscii(combined, "moof");
if (moofTypeOffset >= 4) {
initSegment = Arrays.copyOf(combined, moofTypeOffset - 4);
}
}
private synchronized byte[] getInitSegment() {
return initSegment == null ? null : initSegment.clone();
}
private static int findAscii(byte[] data, String text) {
byte[] target = text.getBytes(StandardCharsets.US_ASCII);
for (int index = 0; index <= data.length - target.length; index++) {
boolean matched = true;
for (int offset = 0; offset < target.length; offset++) {
if (data[index + offset] != target[offset]) {
matched = false;
break;
}
}
if (matched) {
return index;
}
}
return -1;
}
}
}

57
cmvr-iot-framework/src/test/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptorTest.java Normal file
View File

@ -0,0 +1,57 @@
package com.cmvr.framework.mybatisPlus;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNotNull;
import static org.junit.jupiter.api.Assertions.assertNull;
import java.util.List;
import java.util.Map;
import org.apache.ibatis.mapping.SqlCommandType;
import org.junit.jupiter.api.Test;
import com.cmvr.common.core.domain.BaseEntity;
class AuditFieldInterceptorTest
{
private final AuditFieldInterceptor interceptor =
new AuditFieldInterceptor(new MyMetaObjectHandler());
@Test
void fillsInsertAuditFieldsForNestedBatchParameters()
{
TestEntity first = new TestEntity();
TestEntity second = new TestEntity();
interceptor.fillAuditFields(Map.of("list", List.of(first, second)), SqlCommandType.INSERT);
assertInsertFields(first);
assertInsertFields(second);
}
@Test
void fillsOnlyUpdateFieldsForUpdateCommand()
{
TestEntity entity = new TestEntity();
interceptor.fillAuditFields(entity, SqlCommandType.UPDATE);
assertNull(entity.getCreateBy());
assertNull(entity.getCreateTime());
assertEquals("anonymous", entity.getUpdateBy());
assertNotNull(entity.getUpdateTime());
}
private void assertInsertFields(TestEntity entity)
{
assertEquals("anonymous", entity.getCreateBy());
assertNotNull(entity.getCreateTime());
assertEquals("anonymous", entity.getUpdateBy());
assertNotNull(entity.getUpdateTime());
}
private static class TestEntity extends BaseEntity
{
private static final long serialVersionUID = 1L;
}
}

73
cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/handler/ChannelSubscriptionMessageHandlerTest.java Normal file
View File

@ -0,0 +1,73 @@
package com.cmvr.framework.websocket.handler;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import com.cmvr.framework.websocket.message.WSChannelSubscriptionMessage;
import com.cmvr.framework.websocket.service.GrpcClientService;
import com.cmvr.framework.websocket.service.MessagePushService;
import org.junit.jupiter.api.Test;
import org.springframework.web.socket.WebSocketSession;
import java.util.HashMap;
import java.util.Map;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.timeout;
import static org.mockito.Mockito.verify;
import static org.mockito.Mockito.when;
class ChannelSubscriptionMessageHandlerTest {
@Test
void simpleChannelOnlySubscribesLocally() throws Exception {
ChannelSubscriptionManager subscriptionManager = new ChannelSubscriptionManager();
GrpcClientService grpcClientService = mock(GrpcClientService.class);
MessagePushService messagePushService = mock(MessagePushService.class);
WebSocketSession session = session("user-1");
ChannelSubscriptionMessageHandler handler =
new ChannelSubscriptionMessageHandler(subscriptionManager, grpcClientService, messagePushService);
handler.handle(session, message("subscribe", "notifications"));
assertTrue(subscriptionManager.getSubscribedSessions("notifications").contains(session));
verify(grpcClientService, never()).send(
org.mockito.ArgumentMatchers.anyBoolean(),
org.mockito.ArgumentMatchers.anyString(),
org.mockito.ArgumentMatchers.anyString(),
org.mockito.ArgumentMatchers.anyString(),
org.mockito.ArgumentMatchers.anyString());
}
@Test
void grpcChannelSubscribesLocallyAndStartsRemoteSubscription() throws Exception {
ChannelSubscriptionManager subscriptionManager = new ChannelSubscriptionManager();
GrpcClientService grpcClientService = mock(GrpcClientService.class);
MessagePushService messagePushService = mock(MessagePushService.class);
WebSocketSession session = session("user-1");
ChannelSubscriptionMessageHandler handler =
new ChannelSubscriptionMessageHandler(subscriptionManager, grpcClientService, messagePushService);
String channel = "camera/stream/terminal-1/device-1";
handler.handle(session, message("subscribe", channel));
assertTrue(subscriptionManager.getSubscribedSessions(channel).contains(session));
verify(grpcClientService, timeout(1_000)).send(
true, "terminal-1", "device-1", "camera", "stream");
}
private static WSChannelSubscriptionMessage message(String action, String channel) {
WSChannelSubscriptionMessage message = new WSChannelSubscriptionMessage();
message.setAction(action);
message.setChannel(channel);
return message;
}
private static WebSocketSession session(String userId) {
WebSocketSession session = mock(WebSocketSession.class);
Map<String, Object> attributes = new HashMap<>();
attributes.put("userId", userId);
when(session.getAttributes()).thenReturn(attributes);
return session;
}
}

46
cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistryTest.java Normal file
View File

@ -0,0 +1,46 @@
package com.cmvr.framework.websocket.registry;
import com.cmvr.framework.websocket.annotation.WSMessageType;
import com.cmvr.framework.websocket.enums.WSMessageTypeEnum;
import com.cmvr.framework.websocket.handler.WSMessageHandler;
import com.cmvr.framework.websocket.message.WSMessage;
import org.junit.jupiter.api.Test;
import org.springframework.context.ApplicationContext;
import org.springframework.web.socket.WebSocketSession;
import java.util.LinkedHashMap;
import java.util.Map;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.when;
class MessageHandlerRegistryTest {
@Test
void rejectsDuplicateHandlersForTheSameMessageType() {
ApplicationContext context = mock(ApplicationContext.class);
Map<String, Object> handlers = new LinkedHashMap<>();
handlers.put("firstHandler", new FirstHandler());
handlers.put("secondHandler", new SecondHandler());
when(context.getBeansWithAnnotation(WSMessageType.class)).thenReturn(handlers);
MessageHandlerRegistry registry = new MessageHandlerRegistry();
assertThrows(IllegalStateException.class, () -> registry.setApplicationContext(context));
}
@WSMessageType(value = WSMessageTypeEnum.COMMON, messageClass = WSMessage.class)
static class FirstHandler implements WSMessageHandler<WSMessage> {
@Override
public void handle(WebSocketSession session, WSMessage message) {
}
}
@WSMessageType(value = WSMessageTypeEnum.COMMON, messageClass = WSMessage.class)
static class SecondHandler implements WSMessageHandler<WSMessage> {
@Override
public void handle(WebSocketSession session, WSMessage message) {
}
}
}

4
cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
View File

@ -3,7 +3,7 @@ package com.cmvr.inspection.service;
import java.util.List;
import cmvr.msgs.Agv;
import cmvr.msgs.AgvUtils;
import com.baomidou.mybatisplus.spring.service.IService;
import com.cmvr.inspection.domain.InspectionRobot;
import com.cmvr.inspection.domain.vo.InspectionRobotVo;
@ -104,7 +104,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
* @param robotId 机器人ID
* @return 机器人位置信息
*/
Agv.AgvPose2d getRobotRealtimeLocation(String robotId);
AgvUtils.AgvPose2d getRobotRealtimeLocation(String robotId);
/**
* 导航到指定位置（坐标）

14
cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
View File

@ -5,7 +5,7 @@ import java.util.Arrays;
import java.util.List;
import java.util.UUID;
import cmvr.msgs.Agv;
import cmvr.msgs.AgvUtils;
import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
import com.cmvr.common.utils.SecurityUtils;
import com.cmvr.device.domain.DeDeviceTerminalConfig;
@ -278,7 +278,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
try {
// 获取运行时状态（包含电池、位置等信息）
Agv.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
// 设置电池电量
if (runtimeState.hasBattery()) {
@ -287,7 +287,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
// 设置位置信息
if (runtimeState.hasPose()) {
Agv.AgvPose2d pose = runtimeState.getPose();
AgvUtils.AgvPose2d pose = runtimeState.getPose();
robot.setCurrentPosition(pose.getX() + "," + pose.getY() + "," + pose.getTheta());
}
@ -309,7 +309,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
* @return 机器人位置信息
*/
@Override
public Agv.AgvPose2d getRobotRealtimeLocation(String robotId)
public AgvUtils.AgvPose2d getRobotRealtimeLocation(String robotId)
{
InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
if (robot == null) {
@ -320,7 +320,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
edgeCommonVO.setTerminalId(robot.getTerminalId());
edgeCommonVO.setDeviceId(robot.getRobotCode());
Agv.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
return runtimeState.hasPose() ? runtimeState.getPose() : null;
}
@ -345,7 +345,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
}
// 构建目标位姿
Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
.setX(x)
.setY(y)
.setTheta(theta != null ? theta : 0.0)
@ -380,7 +380,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
edgeCommonVO.setTerminalId(robot.getTerminalId());
edgeCommonVO.setDeviceId(robot.getRobotCode());
Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(dimension);
AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(dimension);
return edgeAgvService.startMapping(edgeCommonVO, mapDimension, mapName, realTime);
}

3
cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java
View File

@ -35,6 +35,8 @@ public enum ActionEnum {
NONE("NONE", "NONE", "无操作"),
// 设备行为
DEVICE_EXECUTE_JSON_COMMAND("EDGE", "DEVICE_EXECUTE_JSON_COMMAND", "执行设备通用指令"),
// ---------------相机---------------
CAMERA_START("EDGE", "CAMERA_START", "启动相机"),
CAMERA_STOP("EDGE", "CAMERA_STOP", "停止相机"),
@ -67,6 +69,7 @@ public enum ActionEnum {
// --------------- agv ---------------
AGV_MOVE_TO_POINT("EDGE", "AGV_MOVE_TO_POINT", "移动到指定点"),
AGV_MOVE_TO_STATION("EDGE", "AGV_MOVE_TO_STATION", "移动到指定站点"),
// 大模型行为
// ---------------获取触控坐标---------------

18
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java
View File

@ -1,6 +1,6 @@
package com.cmvr.test.flow.runtime.operator.edge;
import cmvr.msgs.Agv;
import cmvr.msgs.AgvUtils;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.model.EdgeCommonVO;
@ -59,7 +59,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
}
// 构建目标位姿
Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
.setX(x)
.setY(y)
.setTheta(theta != null ? theta : 0.0)
@ -78,6 +78,20 @@ public class EdgeAgvOperateService implements EdgeOperateService {
break;
}
case AGV_MOVE_TO_STATION: {
String stationId = inputParams.getString("stationId");
if (stationId == null || stationId.trim().isEmpty()) {
throw new GlobalException("站点ID(stationId)不能为空");
}
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setTerminalId(terminalId);
edgeCommonVO.setDeviceId(deviceId);
edgeAgvService.navigateToStation(edgeCommonVO, stationId.trim());
log.info("AGV移动到指定站点任务下发成功，设备ID: {}，站点ID: {}", deviceId, stationId);
break;
}
default:
throw new GlobalException("不支持的AGV操作类型: " + action);
}

92
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeDeviceCommandOperateService.java Normal file
View File

@ -0,0 +1,92 @@
package com.cmvr.test.flow.runtime.operator.edge;
import cmvr.api.Common;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
import com.cmvr.edge.client.service.EdgeSystemService;
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 org.apache.commons.lang3.StringUtils;
import org.springframework.stereotype.Service;
/** Executes a device-specific JSON command through the edge system service. */
@Service
@RequiredArgsConstructor
public class EdgeDeviceCommandOperateService implements EdgeOperateService {
private final EdgeSystemService edgeSystemService;
@Override
public boolean supports(ActionEnum action) {
return ActionEnum.DEVICE_EXECUTE_JSON_COMMAND.equals(action);
}
@Override
public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
JSONObject input = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
String terminalId = StringUtils.defaultIfBlank(message.getTerminalId(), input.getString("terminalId"));
String deviceId = StringUtils.trimToNull(input.getString("deviceId"));
if (StringUtils.isBlank(terminalId)) {
throw new GlobalException("终端ID(terminalId)不能为空");
}
if (deviceId == null) {
throw new GlobalException("设备ID(deviceId)不能为空");
}
Object rawRequest = input.get("requestJson");
String requestJson = normalizeRequestJson(rawRequest);
EdgeSystemJsonCommandVO request = new EdgeSystemJsonCommandVO();
request.setTerminalId(terminalId);
request.setDeviceId(deviceId);
request.setRequestJson(requestJson);
Common.JsonDeviceCommand.Feedback feedback = edgeSystemService.executeJsonCommand(request);
if (feedback == null || !feedback.hasHeader()) {
throw new GlobalException("设备通用指令响应缺少状态信息");
}
if (!feedback.getHeader().getSuccess()) {
throw new GlobalException(StringUtils.defaultIfBlank(
feedback.getHeader().getErrorMessage(), "设备通用指令执行失败"));
}
String responseJson = feedback.getResponseJson();
JSONObject output = new JSONObject();
output.put("success", true);
output.put("errorMessage", feedback.getHeader().getErrorMessage());
output.put("rawResponseJson", responseJson);
output.put("responseJson", parseResponseJson(responseJson));
return TaskNodeExecuteResult.success(output);
}
private String normalizeRequestJson(Object rawRequest) {
if (rawRequest == null) {
throw new GlobalException("JSON指令(requestJson)不能为空");
}
String requestJson = rawRequest instanceof String
? StringUtils.trim((String) rawRequest) : JSON.toJSONString(rawRequest);
if (StringUtils.isBlank(requestJson)) {
throw new GlobalException("JSON指令(requestJson)不能为空");
}
try {
JSON.parse(requestJson);
} catch (RuntimeException exception) {
throw new GlobalException("JSON指令(requestJson)格式无效");
}
return requestJson;
}
private Object parseResponseJson(String responseJson) {
if (StringUtils.isBlank(responseJson)) {
return null;
}
try {
return JSON.parse(responseJson);
} catch (RuntimeException exception) {
return responseJson;
}
}
}

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