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fix: 实车调试

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This commit is contained in:
stream 2025-11-13 21:52:05 +08:00
parent 9cf4a6f2f9
commit cdc5d8d222
14 changed files with 9383 additions and 66 deletions
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13
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
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@ -39,4 +39,17 @@ public class EdgeHumanoidRobotController {
public AjaxResult status(EdgeCommonVO vo) {
return AjaxResult.ok(edgeHumanoidRobotService.getJointState(vo));
}
@ApiOperation("使能开")
@GetMapping("/torqueOn")
public AjaxResult torqueOn(EdgeCommonVO vo) {
return AjaxResult.ok(edgeHumanoidRobotService.torqueOn(vo));
}
@ApiOperation("使能关")
@GetMapping("/torqueOff")
public AjaxResult torqueOff(EdgeCommonVO vo) {
return AjaxResult.ok(edgeHumanoidRobotService.torqueOff(vo));
}
}

15
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java
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@ -24,4 +24,19 @@ public interface EdgeBioHeadService {
*/
public String emergencyStop(EdgeCommonVO edgeCommonVO);
/**
* 开始说话
*/
public String speakStart(EdgeCommonVO edgeCommonVO);
/**
* 停止说话
*/
public String speakStop(EdgeCommonVO edgeCommonVO);
/**
* 表情
*/
public String specialExpression(String terminalId,String deviceId,Integer expressKey);
}

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

@ -22,4 +22,14 @@ public interface EdgeHumanoidRobotService {
* 旋转关节
*/
public String speedJ(EdgeSpeedJVO vo);
/**
* 使能开
*/
public String torqueOn(EdgeCommonVO vo);
/**
* 使能关
*/
public String torqueOff(EdgeCommonVO vo);
}

51
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java
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@ -4,6 +4,7 @@ import cmvr.api.BioHeadServiceGrpc;
import cmvr.api.BioheadCommand;
import cmvr.api.Common;
import com.alibaba.fastjson2.JSON;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.biohead.EdgeFacialExpressionVO;
@ -138,4 +139,54 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
BioheadCommand.EmergencyStop.Feedback feedback = stub.emergencyStop(request);
return JSON.toJSONString(feedback.getHeader());
}
@Override
public String speakStart(EdgeCommonVO edgeCommonVO) {
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
BioheadCommand.SpeakStart.Request request = BioheadCommand.SpeakStart.Request.newBuilder().setHeader(header).build();
BioheadCommand.SpeakStart.Feedback feedback = stub.speakStart(request);
return JSON.toJSONString(feedback.getHeader());
}
@Override
public String speakStop(EdgeCommonVO edgeCommonVO) {
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
BioheadCommand.SpeakStop.Request request = BioheadCommand.SpeakStop.Request.newBuilder().setHeader(header).build();
BioheadCommand.SpeakStop.Feedback feedback = stub.speakStop(request);
return JSON.toJSONString(feedback.getHeader());
}
@Override
public String specialExpression(String terminalId, String deviceId, Integer expressKey) {
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
if (expressKey == 1) {
BioheadCommand.Happy.Request happy = BioheadCommand.Happy.Request.newBuilder().setHeader(header).build();
BioheadCommand.Happy.Feedback happyBack = stub.happy(happy);
return JSON.toJSONString(happyBack.getHeader());
}else if (expressKey == 2) {
BioheadCommand.Surprise.Request surprise = BioheadCommand.Surprise.Request.newBuilder().setHeader(header).build();
BioheadCommand.Surprise.Feedback surpriseBack = stub.surprise(surprise);
return JSON.toJSONString(surpriseBack.getHeader());
} else if (expressKey == 3) {
BioheadCommand.ExpressionTired.Request tired = BioheadCommand.ExpressionTired.Request.newBuilder().setHeader(header).build();
BioheadCommand.ExpressionTired.Feedback tiredBack = stub.expressionTired(tired);
return JSON.toJSONString(tiredBack.getHeader());
}else {
throw new GlobalException("错误的传参，1:高兴,2:惊讶,3:疲惫");
}
}
}

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

@ -76,4 +76,24 @@ public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
HumanoidRobotCommand.SpeedJ.Response response = stub.speedJ(request);
return JSON.toJSONString(response.getHeader());
}
@Override
public String torqueOn(EdgeCommonVO vo) {
HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
Common.CommandHeader.Feedback response = stub.torqueOn(header);
return JSON.toJSONString(response);
}
@Override
public String torqueOff(EdgeCommonVO vo) {
HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
Common.CommandHeader.Feedback response = stub.torqueOff(header);
return JSON.toJSONString(response);
}
}

396
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioHeadServiceGrpc.java
View File

@ -142,6 +142,161 @@ public final class BioHeadServiceGrpc {
return getEmergencyStopMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStart.Request,
cmvr.api.BioheadCommand.SpeakStart.Feedback> getSpeakStartMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "SpeakStart",
requestType = cmvr.api.BioheadCommand.SpeakStart.Request.class,
responseType = cmvr.api.BioheadCommand.SpeakStart.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStart.Request,
cmvr.api.BioheadCommand.SpeakStart.Feedback> getSpeakStartMethod() {
io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStart.Request, cmvr.api.BioheadCommand.SpeakStart.Feedback> getSpeakStartMethod;
if ((getSpeakStartMethod = BioHeadServiceGrpc.getSpeakStartMethod) == null) {
synchronized (BioHeadServiceGrpc.class) {
if ((getSpeakStartMethod = BioHeadServiceGrpc.getSpeakStartMethod) == null) {
BioHeadServiceGrpc.getSpeakStartMethod = getSpeakStartMethod =
io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.SpeakStart.Request, cmvr.api.BioheadCommand.SpeakStart.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "SpeakStart"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.SpeakStart.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.SpeakStart.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("SpeakStart"))
.build();
}
}
}
return getSpeakStartMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStop.Request,
cmvr.api.BioheadCommand.SpeakStop.Feedback> getSpeakStopMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "SpeakStop",
requestType = cmvr.api.BioheadCommand.SpeakStop.Request.class,
responseType = cmvr.api.BioheadCommand.SpeakStop.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStop.Request,
cmvr.api.BioheadCommand.SpeakStop.Feedback> getSpeakStopMethod() {
io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStop.Request, cmvr.api.BioheadCommand.SpeakStop.Feedback> getSpeakStopMethod;
if ((getSpeakStopMethod = BioHeadServiceGrpc.getSpeakStopMethod) == null) {
synchronized (BioHeadServiceGrpc.class) {
if ((getSpeakStopMethod = BioHeadServiceGrpc.getSpeakStopMethod) == null) {
BioHeadServiceGrpc.getSpeakStopMethod = getSpeakStopMethod =
io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.SpeakStop.Request, cmvr.api.BioheadCommand.SpeakStop.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "SpeakStop"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.SpeakStop.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.SpeakStop.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("SpeakStop"))
.build();
}
}
}
return getSpeakStopMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Happy.Request,
cmvr.api.BioheadCommand.Happy.Feedback> getHappyMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "Happy",
requestType = cmvr.api.BioheadCommand.Happy.Request.class,
responseType = cmvr.api.BioheadCommand.Happy.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Happy.Request,
cmvr.api.BioheadCommand.Happy.Feedback> getHappyMethod() {
io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Happy.Request, cmvr.api.BioheadCommand.Happy.Feedback> getHappyMethod;
if ((getHappyMethod = BioHeadServiceGrpc.getHappyMethod) == null) {
synchronized (BioHeadServiceGrpc.class) {
if ((getHappyMethod = BioHeadServiceGrpc.getHappyMethod) == null) {
BioHeadServiceGrpc.getHappyMethod = getHappyMethod =
io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.Happy.Request, cmvr.api.BioheadCommand.Happy.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "Happy"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.Happy.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.Happy.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("Happy"))
.build();
}
}
}
return getHappyMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Surprise.Request,
cmvr.api.BioheadCommand.Surprise.Feedback> getSurpriseMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "Surprise",
requestType = cmvr.api.BioheadCommand.Surprise.Request.class,
responseType = cmvr.api.BioheadCommand.Surprise.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Surprise.Request,
cmvr.api.BioheadCommand.Surprise.Feedback> getSurpriseMethod() {
io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Surprise.Request, cmvr.api.BioheadCommand.Surprise.Feedback> getSurpriseMethod;
if ((getSurpriseMethod = BioHeadServiceGrpc.getSurpriseMethod) == null) {
synchronized (BioHeadServiceGrpc.class) {
if ((getSurpriseMethod = BioHeadServiceGrpc.getSurpriseMethod) == null) {
BioHeadServiceGrpc.getSurpriseMethod = getSurpriseMethod =
io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.Surprise.Request, cmvr.api.BioheadCommand.Surprise.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "Surprise"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.Surprise.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.Surprise.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("Surprise"))
.build();
}
}
}
return getSurpriseMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.ExpressionTired.Request,
cmvr.api.BioheadCommand.ExpressionTired.Feedback> getExpressionTiredMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "ExpressionTired",
requestType = cmvr.api.BioheadCommand.ExpressionTired.Request.class,
responseType = cmvr.api.BioheadCommand.ExpressionTired.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.ExpressionTired.Request,
cmvr.api.BioheadCommand.ExpressionTired.Feedback> getExpressionTiredMethod() {
io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.ExpressionTired.Request, cmvr.api.BioheadCommand.ExpressionTired.Feedback> getExpressionTiredMethod;
if ((getExpressionTiredMethod = BioHeadServiceGrpc.getExpressionTiredMethod) == null) {
synchronized (BioHeadServiceGrpc.class) {
if ((getExpressionTiredMethod = BioHeadServiceGrpc.getExpressionTiredMethod) == null) {
BioHeadServiceGrpc.getExpressionTiredMethod = getExpressionTiredMethod =
io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.ExpressionTired.Request, cmvr.api.BioheadCommand.ExpressionTired.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "ExpressionTired"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.ExpressionTired.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.BioheadCommand.ExpressionTired.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("ExpressionTired"))
.build();
}
}
}
return getExpressionTiredMethod;
}
/**
* Creates a new async stub that supports all call types for the service
*/
@ -230,6 +385,47 @@ public final class BioHeadServiceGrpc {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getEmergencyStopMethod(), responseObserver);
}
/**
* <pre>
* 开始说话
* </pre>
*/
public void speakStart(cmvr.api.BioheadCommand.SpeakStart.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStart.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeakStartMethod(), responseObserver);
}
/**
* <pre>
* 停止说话
* </pre>
*/
public void speakStop(cmvr.api.BioheadCommand.SpeakStop.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStop.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeakStopMethod(), responseObserver);
}
/**
*/
public void happy(cmvr.api.BioheadCommand.Happy.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Happy.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getHappyMethod(), responseObserver);
}
/**
*/
public void surprise(cmvr.api.BioheadCommand.Surprise.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Surprise.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSurpriseMethod(), responseObserver);
}
/**
*/
public void expressionTired(cmvr.api.BioheadCommand.ExpressionTired.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.ExpressionTired.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getExpressionTiredMethod(), responseObserver);
}
@java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
.addMethod(
@ -260,6 +456,41 @@ public final class BioHeadServiceGrpc {
cmvr.api.BioheadCommand.EmergencyStop.Request,
cmvr.api.BioheadCommand.EmergencyStop.Feedback>(
this, METHODID_EMERGENCY_STOP)))
.addMethod(
getSpeakStartMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.BioheadCommand.SpeakStart.Request,
cmvr.api.BioheadCommand.SpeakStart.Feedback>(
this, METHODID_SPEAK_START)))
.addMethod(
getSpeakStopMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.BioheadCommand.SpeakStop.Request,
cmvr.api.BioheadCommand.SpeakStop.Feedback>(
this, METHODID_SPEAK_STOP)))
.addMethod(
getHappyMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.BioheadCommand.Happy.Request,
cmvr.api.BioheadCommand.Happy.Feedback>(
this, METHODID_HAPPY)))
.addMethod(
getSurpriseMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.BioheadCommand.Surprise.Request,
cmvr.api.BioheadCommand.Surprise.Feedback>(
this, METHODID_SURPRISE)))
.addMethod(
getExpressionTiredMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.BioheadCommand.ExpressionTired.Request,
cmvr.api.BioheadCommand.ExpressionTired.Feedback>(
this, METHODID_EXPRESSION_TIRED)))
.build();
}
}
@ -321,6 +552,52 @@ public final class BioHeadServiceGrpc {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request, responseObserver);
}
/**
* <pre>
* 开始说话
* </pre>
*/
public void speakStart(cmvr.api.BioheadCommand.SpeakStart.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStart.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getSpeakStartMethod(), getCallOptions()), request, responseObserver);
}
/**
* <pre>
* 停止说话
* </pre>
*/
public void speakStop(cmvr.api.BioheadCommand.SpeakStop.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStop.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getSpeakStopMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void happy(cmvr.api.BioheadCommand.Happy.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Happy.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getHappyMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void surprise(cmvr.api.BioheadCommand.Surprise.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Surprise.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getSurpriseMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void expressionTired(cmvr.api.BioheadCommand.ExpressionTired.Request request,
io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.ExpressionTired.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getExpressionTiredMethod(), getCallOptions()), request, responseObserver);
}
}
/**
@ -369,6 +646,47 @@ public final class BioHeadServiceGrpc {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getEmergencyStopMethod(), getCallOptions(), request);
}
/**
* <pre>
* 开始说话
* </pre>
*/
public cmvr.api.BioheadCommand.SpeakStart.Feedback speakStart(cmvr.api.BioheadCommand.SpeakStart.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getSpeakStartMethod(), getCallOptions(), request);
}
/**
* <pre>
* 停止说话
* </pre>
*/
public cmvr.api.BioheadCommand.SpeakStop.Feedback speakStop(cmvr.api.BioheadCommand.SpeakStop.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getSpeakStopMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.BioheadCommand.Happy.Feedback happy(cmvr.api.BioheadCommand.Happy.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getHappyMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.BioheadCommand.Surprise.Feedback surprise(cmvr.api.BioheadCommand.Surprise.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getSurpriseMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.BioheadCommand.ExpressionTired.Feedback expressionTired(cmvr.api.BioheadCommand.ExpressionTired.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getExpressionTiredMethod(), getCallOptions(), request);
}
}
/**
@ -420,12 +738,63 @@ public final class BioHeadServiceGrpc {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request);
}
/**
* <pre>
* 开始说话
* </pre>
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.SpeakStart.Feedback> speakStart(
cmvr.api.BioheadCommand.SpeakStart.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getSpeakStartMethod(), getCallOptions()), request);
}
/**
* <pre>
* 停止说话
* </pre>
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.SpeakStop.Feedback> speakStop(
cmvr.api.BioheadCommand.SpeakStop.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getSpeakStopMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.Happy.Feedback> happy(
cmvr.api.BioheadCommand.Happy.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getHappyMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.Surprise.Feedback> surprise(
cmvr.api.BioheadCommand.Surprise.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getSurpriseMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.ExpressionTired.Feedback> expressionTired(
cmvr.api.BioheadCommand.ExpressionTired.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getExpressionTiredMethod(), getCallOptions()), request);
}
}
private static final int METHODID_SET_EXPRESSION = 0;
private static final int METHODID_GET_SYSTEM_STATUS = 1;
private static final int METHODID_EMERGENCY_STOP = 2;
private static final int METHODID_STREAM_EXPRESSION = 3;
private static final int METHODID_SPEAK_START = 3;
private static final int METHODID_SPEAK_STOP = 4;
private static final int METHODID_HAPPY = 5;
private static final int METHODID_SURPRISE = 6;
private static final int METHODID_EXPRESSION_TIRED = 7;
private static final int METHODID_STREAM_EXPRESSION = 8;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@ -456,6 +825,26 @@ public final class BioHeadServiceGrpc {
serviceImpl.emergencyStop((cmvr.api.BioheadCommand.EmergencyStop.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.EmergencyStop.Feedback>) responseObserver);
break;
case METHODID_SPEAK_START:
serviceImpl.speakStart((cmvr.api.BioheadCommand.SpeakStart.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStart.Feedback>) responseObserver);
break;
case METHODID_SPEAK_STOP:
serviceImpl.speakStop((cmvr.api.BioheadCommand.SpeakStop.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStop.Feedback>) responseObserver);
break;
case METHODID_HAPPY:
serviceImpl.happy((cmvr.api.BioheadCommand.Happy.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Happy.Feedback>) responseObserver);
break;
case METHODID_SURPRISE:
serviceImpl.surprise((cmvr.api.BioheadCommand.Surprise.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Surprise.Feedback>) responseObserver);
break;
case METHODID_EXPRESSION_TIRED:
serviceImpl.expressionTired((cmvr.api.BioheadCommand.ExpressionTired.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.ExpressionTired.Feedback>) responseObserver);
break;
default:
throw new AssertionError();
}
@ -524,6 +913,11 @@ public final class BioHeadServiceGrpc {
.addMethod(getStreamExpressionMethod())
.addMethod(getGetSystemStatusMethod())
.addMethod(getEmergencyStopMethod())
.addMethod(getSpeakStartMethod())
.addMethod(getSpeakStopMethod())
.addMethod(getHappyMethod())
.addMethod(getSurpriseMethod())
.addMethod(getExpressionTiredMethod())
.build();
}
}

8650
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadCommand.java
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File diff suppressed because it is too large Load Diff

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

@ -24,17 +24,27 @@ public final class BioheadService {
static {
java.lang.String[] descriptorData = {
"\n\036cmvr/api/biohead_service.proto\022\010cmvr.a" +
"pi\032\036cmvr/api/biohead_command.proto2\207\003\n\016B" +
"pi\032\036cmvr/api/biohead_command.proto2\375\005\n\016B" +
"ioHeadService\022`\n\rSetExpression\022%.cmvr.ap" +
"i.SetFacialExpression.Request\032&.cmvr.api" +
".SetFacialExpression.Feedback\"\000\022m\n\020Strea" +
".SetFacialExpression.Feedback\"\000\022k\n\020Strea" +
"mExpression\022(.cmvr.api.StreamFacialExpre" +
"ssion.Request\032).cmvr.api.StreamFacialExp" +
"ression.Feedback\"\000(\0010\001\022N\n\017GetSystemStatu" +
"s\022\033.cmvr.api.GetStatus.Request\032\034.cmvr.ap" +
"i.GetStatus.Feedback\"\000\022T\n\rEmergencyStop\022" +
"\037.cmvr.api.EmergencyStop.Request\032 .cmvr." +
"api.EmergencyStop.Feedback\"\000b\006proto3"
"ression.Feedback(\0010\001\022N\n\017GetSystemStatus\022" +
"\033.cmvr.api.GetStatus.Request\032\034.cmvr.api." +
"GetStatus.Feedback\"\000\022T\n\rEmergencyStop\022\037." +
"cmvr.api.EmergencyStop.Request\032 .cmvr.ap" +
"i.EmergencyStop.Feedback\"\000\022K\n\nSpeakStart" +
"\022\034.cmvr.api.SpeakStart.Request\032\035.cmvr.ap" +
"i.SpeakStart.Feedback\"\000\022H\n\tSpeakStop\022\033.c" +
"mvr.api.SpeakStop.Request\032\034.cmvr.api.Spe" +
"akStop.Feedback\"\000\022<\n\005Happy\022\027.cmvr.api.Ha" +
"ppy.Request\032\030.cmvr.api.Happy.Feedback\"\000\022" +
"E\n\010Surprise\022\032.cmvr.api.Surprise.Request\032" +
"\033.cmvr.api.Surprise.Feedback\"\000\022Z\n\017Expres" +
"sionTired\022!.cmvr.api.ExpressionTired.Req" +
"uest\032\".cmvr.api.ExpressionTired.Feedback" +
"\"\000b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,

151
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto
View File

@ -9,17 +9,17 @@ package cmvr.api;
* 包含生物头部机器人面部各部位的运动参数，用于精确控制面部表情
*/
message FacialExpression {
/**
* 眉毛控制参数
* 左右眉毛的内外侧垂直位置（0.0-1.0标准化值）
*/
message Eyebrow {
float left_outside_y = 1; // 左眉外侧垂直位置
float left_inside_y = 2; // 左眉内侧垂直位置
float right_outside_y = 3; // 右眉外侧垂直位置
float right_inside_y = 4; // 右眉内侧垂直位置
}
Eyebrow eyebrow = 3; // 眉毛参数封装
/**
* 眉毛控制参数
* 左右眉毛的内外侧垂直位置（0.0-1.0标准化值）
*/
message Eyebrow {
float left_outside_y = 1; // 左眉外侧垂直位置
float left_inside_y = 2; // 左眉内侧垂直位置
float right_outside_y = 3; // 右眉外侧垂直位置
float right_inside_y = 4; // 右眉内侧垂直位置
}
Eyebrow eyebrow = 3; // 眉毛参数封装
/**
* 眼睑控制参数
@ -111,16 +111,16 @@ message FacialExpression {
* 用于单次设置生物头部的面部表情
*/
message SetFacialExpression {
message Request {
CommandHeader.Request header = 1; // 通用命令头，包含设备ID和时间戳
FacialExpression expression = 2; // 具体面部表情参数
}
message Request {
CommandHeader.Request header = 1; // 通用命令头，包含设备ID和时间戳
FacialExpression expression = 2; // 具体面部表情参数
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头，包含操作状态和时间戳
string execution_id = 2; // 表情执行任务ID
float execution_time_ms = 3; // 表情执行耗时（毫秒）
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头，包含操作状态和时间戳
string execution_id = 2; // 表情执行任务ID
float execution_time_ms = 3; // 表情执行耗时（毫秒）
}
}
/**
@ -128,16 +128,16 @@ message SetFacialExpression {
* 用于连续发送多个面部表情，实现表情动画效果
*/
message StreamFacialExpression {
message Request {
CommandHeader.Request header = 1; // 通用命令头
FacialExpression expr = 2; // 执行
bool eof = 3; // 标记是否为流结束
}
message Request {
CommandHeader.Request header = 1; // 通用命令头
FacialExpression expr = 2; // 执行
bool eof = 3; // 标记是否为流结束
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
FacialExpression expr_diff = 2; // 执行误差
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
FacialExpression expr_diff = 2; // 执行误差
}
}
/**
@ -145,18 +145,18 @@ message StreamFacialExpression {
* 用于查询当前头部各部位的状态和位置
*/
message GetStatus {
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
bool is_moving = 2; // 是否有部位在移动
string last_request_id = 3; // 上一次请求的ID
repeated float current_positions = 4; // 当前各部位位置参数
bool camera_recording = 5; // 相机是否在录制
string active_recording_id = 6; // 活跃录制任务的ID
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
bool is_moving = 2; // 是否有部位在移动
string last_request_id = 3; // 上一次请求的ID
repeated float current_positions = 4; // 当前各部位位置参数
bool camera_recording = 5; // 相机是否在录制
string active_recording_id = 6; // 活跃录制任务的ID
}
}
/**
@ -164,12 +164,69 @@ message GetStatus {
* 用于立即停止所有面部动作
*/
message EmergencyStop {
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
string stopped_processes = 2; // 已停止的进程列表
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
string stopped_processes = 2; // 已停止的进程列表
}
}
message SpeakStart {
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
}
}
message SpeakStop {
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
}
}
// 表情控制 - 高兴
message Happy {
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
}
}
// 表情控制 - 惊讶
message Surprise {
message Request {
CommandHeader.Request header = 1; // 通用命令头
}
message Feedback {
CommandHeader.Feedback header = 1; // 通用反馈头
}
}
message ExpressionTired {
message Request {
CommandHeader.Request header = 1;
}
message Feedback {
CommandHeader.Feedback header = 1;
}
}

32
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto
View File

@ -5,18 +5,32 @@ import "cmvr/api/biohead_command.proto";
// 生物头部机器人服务接口
service BioHeadService {
// 设置面部表情
rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){};
// 设置面部表情
rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){};
// 流式表情控制
//rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){};
// 流式表情控制
//rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){};
rpc StreamExpression (stream StreamFacialExpression.Request) returns (stream StreamFacialExpression.Feedback){};
rpc StreamExpression (stream StreamFacialExpression.Request) returns (stream StreamFacialExpression.Feedback);
// 获取状态
rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
// 紧急停止
rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){};
// 开始说话
rpc SpeakStart(SpeakStart.Request) returns (SpeakStart.Feedback){};
// 停止说话
rpc SpeakStop(SpeakStop.Request) returns (SpeakStop.Feedback){};
rpc Happy(Happy.Request) returns (Happy.Feedback){};
rpc Surprise(Surprise.Request) returns (Surprise.Feedback){};
rpc ExpressionTired(ExpressionTired.Request) returns (ExpressionTired.Feedback){};
// 获取状态
rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
// 紧急停止
rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){};
}

5
cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java
View File

@ -46,6 +46,11 @@ public enum ActionEnum {
// ---------------机械臂---------------
TOUCH("EDGE", "TOUCH", "触控"),
// --------------- 头部 ---------------
BIO_HEAD_SPEAK_START("EDGE", "BIO_HEAD_SPEAK_START", "开始说话"),
BIO_HEAD_SPEAK_STOP("EDGE", "BIO_HEAD_SPEAK_STOP", "停止说话"),
BIO_HEAD_SPECIAL_EXPRESSION("EDGE", "BIO_HEAD_SPECIAL_EXPRESSION", "表情，1:高兴,2:惊讶,3:疲惫"),
// 大模型行为
// ---------------获取触控坐标---------------
TOUCH_COORDINATES("LLM", "TOUCH_COORDINATES", "获取触控坐标"),

60
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeHeadOperateService.java Normal file
View File

@ -0,0 +1,60 @@
package com.cmvr.test.flow.runtime.operator.edge;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.service.EdgeBioHeadService;
import com.cmvr.test.enums.ActionEnum;
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
@Slf4j
@Service
@RequiredArgsConstructor
public class EdgeHeadOperateService implements EdgeOperateService {
private final EdgeBioHeadService edgeBioHeadService;
@Override
public boolean supports(ActionEnum action) {
return action.name().startsWith("BIO_HEAD_");
}
@Override
public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
ActionEnum action = message.getAction();
JSONObject inputParams = message.getInputParams();
String terminalId = message.getTerminalId();
String deviceId = inputParams.getString("deviceId");
switch (action) {
case BIO_HEAD_SPEAK_START: {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setDeviceId(deviceId);
edgeCommonVO.setTerminalId(terminalId);
edgeBioHeadService.speakStart(edgeCommonVO);
break;
}
case BIO_HEAD_SPEAK_STOP: {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setDeviceId(deviceId);
edgeCommonVO.setTerminalId(terminalId);
edgeBioHeadService.speakStop(edgeCommonVO);
break;
}
case BIO_HEAD_SPECIAL_EXPRESSION: {
Integer expressKey = inputParams.getInteger("expressKey");
edgeBioHeadService.specialExpression(terminalId,deviceId,expressKey);
break;
}
default:
throw new GlobalException("不支持的头部操作类型: " + action);
}
return TaskNodeExecuteResult.success();
}
}

11
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java
View File

@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import java.util.List;
@Slf4j
@Service
@RequiredArgsConstructor
@ -37,6 +39,15 @@ public class EdgeTouchOperateService implements EdgeOperateService {
EdgeMoveJVO edgeMoveJVO = JSON.parseObject(touchParams, EdgeMoveJVO.class);
edgeMoveJVO.setTerminalId(terminalId);
edgeMoveJVO.setDeviceId(deviceId);
edgeMoveJVO.setAcc(6d);
edgeMoveJVO.setVel(6d);
List<EdgeMoveJVO.JointCmd> cmds = edgeMoveJVO.getCmds();
for (EdgeMoveJVO.JointCmd cmd : cmds) {
if (cmd.getJointName().equals("R_WRIST_Y")) {
cmd.setRad(cmd.getRad() - 0.12d);
}
}
edgeHumanoidRobotService.moveJ(edgeMoveJVO);
break;
}

11
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/vi/ViPlayOperateService.java
View File

@ -3,6 +3,8 @@ package com.cmvr.test.flow.runtime.operator.vi;
import cmvr.api.SpeakerCommand;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.service.EdgeBioHeadService;
import com.cmvr.edge.client.service.EdgeSpeakerService;
import com.cmvr.test.enums.ActionEnum;
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
@ -24,6 +26,7 @@ import java.io.File;
public class ViPlayOperateService implements VIOperateService {
private final EdgeSpeakerService edgeSpeakerService;
private final EdgeBioHeadService edgeBioHeadService;
@Override
public boolean supports(ActionEnum action) {
@ -41,6 +44,11 @@ public class ViPlayOperateService implements VIOperateService {
String audioPath = inputParams.getString("audioPath");
String terminalId = message.getTerminalId();
log.info("播放语料成功,deviceId={},audioPath={},terminalId={}", deviceId, audioPath, terminalId);
// 播放前调用张嘴
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setDeviceId(deviceId);
edgeCommonVO.setTerminalId(terminalId);
edgeBioHeadService.speakStart(edgeCommonVO);
edgeSpeakerService.playAudio(terminalId, deviceId, audioPath);
// 等待播放完成
while (true) {
@ -55,7 +63,8 @@ public class ViPlayOperateService implements VIOperateService {
break;
}
}
// 播放完成调用闭嘴
edgeBioHeadService.speakStop(edgeCommonVO);
// todo 本机测试播放
// playAudio(audioPath);
return TaskNodeExecuteResult.success();