feat: 机械臂

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

@@ -2,7 +2,7 @@ package com.cmvr.web.controller.api;
 
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
-import com.cmvr.edge.client.model.biohead.EdgeCommonVO;
+import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.biohead.EdgeFacialExpressionVO;
 import com.cmvr.edge.client.service.EdgeBioHeadService;
 import io.swagger.annotations.Api;
@@ -24,39 +24,6 @@ public class EdgeBioHeadController extends BaseController {
     @ApiOperation("设置面部表情")
     @PostMapping("/expression")
     public AjaxResult expression(@RequestBody EdgeFacialExpressionVO facialExpressionVo) {
-        /*// 构建面部表情参数
-        EdgeFacialExpressionVo expression = EdgeFacialExpressionVo.builder()
-                .eyebrow(EdgeFacialExpressionVo.Eyebrow.builder()
-                        .leftOutsideY(1f)
-                        .leftInsideY(0.4f)
-                        .rightOutsideY(0.2f)
-                        .rightInsideY(0.2f)
-                        .build())
-                .eyelid(EdgeFacialExpressionVo.Eyelid.builder()
-                        .leftUpperY(0.4f)
-                        .leftLowerY(0.4f)
-                        .rightUpperY(0.4f)
-                        .rightLowerY(0.5f)
-                        .build())
-                .eyeball(EdgeFacialExpressionVo.Eyeball.builder()
-                        .leftX(0.2f)
-                        .leftY(0.3f)
-                        .rightX(0.4f)
-                        .rightY(0.5f)
-                        .build())
-                .mouth(EdgeFacialExpressionVo.Mouth.builder()
-                        .upperLipY(0.3f)
-                        .lowerLipY(-0.3f)
-                        .build())
-                .nose(EdgeFacialExpressionVo.Nose.builder()
-                        .leftY(0f)
-                        .rightY(0f)
-                        .build())
-                .jaw(EdgeFacialExpressionVo.Jaw.builder()
-                        .x(0f)
-                        .y(0f)
-                        .build())
-                .build();*/
         return success(edgeBioHeadService.setExpression(facialExpressionVo));
     }
 

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

@@ -0,0 +1,27 @@
+package com.cmvr.web.controller.api;
+
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
+import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+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.RestController;
+
+@Api(tags = "机械臂")
+@RestController
+@RequestMapping("/api/humanoid")
+@RequiredArgsConstructor
+public class EdgeHumanoidRobotController {
+
+    private final EdgeHumanoidRobotService edgeHumanoidRobotService;
+
+    @ApiOperation("设置面部表情")
+    @PostMapping("/moveJ")
+    public AjaxResult expression(@RequestBody EdgeMoveJVO moveJVO) {
+        return AjaxResult.ok(edgeHumanoidRobotService.moveJ(moveJVO));
+    }
+}

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

@@ -54,6 +54,8 @@ public class GrpcServiceManager {
         // 注册机器人灵巧手服务的 Stub
         clientFactories.put(DexHandServiceGrpc.DexHandServiceBlockingStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newBlockingStub));
         clientFactories.put(DexHandServiceGrpc.DexHandServiceStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newStub));
+        // 注册机械臂服务的stub
+        clientFactories.put(HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class, new GrpcClientFactory<>(HumanoidRobotServiceGrpc::newBlockingStub));
     }
 
 

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

@@ -1,4 +1,4 @@
-package com.cmvr.edge.client.model.biohead;
+package com.cmvr.edge.client.model;
 
 import lombok.Data;
 

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

@@ -1,6 +1,7 @@
 package com.cmvr.edge.client.model.biohead;
 
 
+import com.cmvr.edge.client.model.EdgeCommonVO;
 import lombok.Data;
 
 

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

@@ -0,0 +1,29 @@
+package com.cmvr.edge.client.model.humanoid;
+
+import cmvr.api.HumanoidRobot;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class EdgeMoveJVO extends EdgeCommonVO {
+    /** 全局关节角速度 (rad/s) */
+    private double vel;
+
+    /** 机械臂整体加速度 (rad/s^2) */
+    private double acc;
+
+    /** 关节命令列表 */
+    private List<JointCmd> cmds;
+
+    /**
+     * 内部类：关节命令
+     */
+    @Data
+    public static class JointCmd {
+        private String jointName; // 关节名称
+        private double rad;       // 弧度
+        private double vel;       // 角速度，rad/s
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java

@@ -1,6 +1,6 @@
 package com.cmvr.edge.client.service;
 
-import com.cmvr.edge.client.model.biohead.EdgeCommonVO;
+import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.biohead.EdgeFacialExpressionVO;
 
 /**

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

@@ -0,0 +1,14 @@
+package com.cmvr.edge.client.service;
+
+import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
+
+/**
+ * 边缘系统机械臂服务
+ */
+public interface EdgeHumanoidRobotService {
+    /**
+     * 移动机械臂
+     */
+    public String moveJ(EdgeMoveJVO vo);
+
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java

@@ -5,7 +5,7 @@ import cmvr.api.BioheadCommand;
 import cmvr.api.Common;
 import com.alibaba.fastjson2.JSON;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
-import com.cmvr.edge.client.model.biohead.EdgeCommonVO;
+import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.biohead.EdgeFacialExpressionVO;
 import com.cmvr.edge.client.service.EdgeBioHeadService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;

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

@@ -12,11 +12,11 @@ import com.cmvr.edge.client.file.ByteArrayMultipartFile;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 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.framework.websocket.service.MessagePushService;
 import com.cmvr.system.service.ISysFileService;
 import com.google.protobuf.ByteString;
-import com.google.protobuf.Timestamp;
 import io.grpc.stub.StreamObserver;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -59,7 +59,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
     public CameraCommand.CameraState status(String terminalId, String deviceId) {
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetCameraStateCommand.Request request = CameraCommand.GetCameraStateCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
         return executeGrpcCall(() -> stub.getStatus(request)).getState();
     }
@@ -77,7 +77,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
     public String start(String terminalId, String deviceId) {
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StartCameraCommand.Request request = CameraCommand.StartCameraCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
         Common.CommandHeader.Feedback header = executeGrpcCall(() -> stub.startCamera(request)).getHeader();
         return JSON.toJSONString(header);
@@ -87,7 +87,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
     public String stop(String terminalId, String deviceId) {
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StopCameraCommand.Request request = CameraCommand.StopCameraCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
         Common.CommandHeader.Feedback header = executeGrpcCall(() -> stub.stopCamera(request)).getHeader();
         return JSON.toJSONString(header);
@@ -101,7 +101,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         }
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetRGBImageCommand.Request request = CameraCommand.GetRGBImageCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
         CameraCommand.GetRGBImageCommand.Feedback feedback = executeGrpcCall(() -> stub.getRGBImage(request));
         CameraCommand.FrameData frame = feedback.getColorFrame();
@@ -130,7 +130,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         String videoPath = StrUtil.format("{}/{}_{}.mp4", "/home/share/assets/video", deviceId, System.currentTimeMillis());
 
         CameraCommand.StartCameraRecordingCommand.Request request = CameraCommand.StartCameraRecordingCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .setVideoPath(videoPath)
                 .build();
         executeGrpcCall(() -> stub.startRecording(request));
@@ -141,7 +141,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
     public String stopRecording(String terminalId, String deviceId) {
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StopCameraRecordingCommand.Request request = CameraCommand.StopCameraRecordingCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
         Common.CommandHeader.Feedback header = executeGrpcCall(() -> stub.stopRecording(request)).getHeader();
         return JSON.toJSONString(header);
@@ -155,11 +155,11 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetRGBDImagesCommand.Request request = CameraCommand.GetRGBDImagesCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
         CameraCommand.GetRGBDImagesCommand.Feedback feedback = executeGrpcCall(() -> stub.getRGBDImages(request));
 
-       return JSON.toJSONString(feedback);
+        return JSON.toJSONString(feedback);
     }
 
     // 缓冲区和收集状态
@@ -222,7 +222,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
         // 构建请求并发送
         CameraCommand.GetRGBImageStreamCommand.Request request = CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
-                .setHeader(buildRequest(deviceId))
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .setEof(false)
                 .build();
 
@@ -241,17 +241,6 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     }
 
-    private static Common.CommandHeader.Request buildRequest(String deviceId) {
-        return Common.CommandHeader.Request.newBuilder()
-                .setDeviceId(deviceId)
-                .setTimestamp(
-                        Timestamp.newBuilder()
-                                .setSeconds(System.currentTimeMillis() / 1000)
-                                .build()
-                )
-                .build();
-    }
-
     @FunctionalInterface
     private interface GrpcCall<T> {
         T call() throws Exception;

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

@@ -0,0 +1,48 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.Common;
+import cmvr.api.HumanoidRobot;
+import cmvr.api.HumanoidRobotServiceGrpc;
+import com.alibaba.fastjson2.JSON;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
+import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
+
+    private final GrpcServiceManager grpcServiceManager;
+
+    @Override
+    public String moveJ(EdgeMoveJVO vo) {
+        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
+                grpcServiceManager.getGrpcClient(vo.getTerminalId(),
+                        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
+
+        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
+
+        HumanoidRobot.MoveJ.Request.Builder builder = HumanoidRobot.MoveJ.Request.newBuilder()
+                .setHeader(header)
+                .setVel(vo.getVel())
+                .setAcc(vo.getAcc());
+
+        if (vo.getCmds() != null) {
+            for (EdgeMoveJVO.JointCmd j : vo.getCmds()) {
+                builder.addCmds(HumanoidRobot.JointCmd.newBuilder()
+                        .setJointName(j.getJointName())
+                        .setRad(j.getRad())
+                        .setVel(j.getVel())
+                        .build());
+            }
+        }
+
+        HumanoidRobot.MoveJ.Response response = stub.moveJ(builder.build());
+        return JSON.toJSONString(response.getHeader());
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java

@@ -5,6 +5,7 @@ import cmvr.api.MicrophoneCommand;
 import cmvr.api.MicPhoneServiceGrpc;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.service.EdgeMicrophoneService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
 import io.grpc.ManagedChannel;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
@@ -32,20 +33,6 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
      */
     private final GrpcServiceManager grpcServiceManager;
 
-    /**
-     * 构建请求头
-     */
-    private static Common.CommandHeader.Request buildRequest(String deviceId) {
-        return Common.CommandHeader.Request.newBuilder()
-                .setDeviceId(deviceId)
-                .setTimestamp(
-                        Timestamp.newBuilder()
-                                .setSeconds(System.currentTimeMillis() / 1000)
-                                .build()
-                )
-                .build();
-    }
-
     /**
      * 获取麦克风当前状态
      * 通过gRPC调用获取麦克风的运行状态，包括是否正在录音、音量等信息
@@ -60,7 +47,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
         try {
             MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
             MicrophoneCommand.GetMicStateCommand.Request request = MicrophoneCommand.GetMicStateCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
             // 直接返回完整的 Feedback
             return stub.getStatus(request);
@@ -87,7 +74,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
 
             // 构建请求消息
             MicrophoneCommand.StartMicRecordingCommand.Request request = MicrophoneCommand.StartMicRecordingCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .setFilePath(filePath)
                     .build();
 
@@ -115,7 +102,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
 
             // 构建请求消息
             MicrophoneCommand.StopMicRecordingCommand.Request request = MicrophoneCommand.StopMicRecordingCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求
@@ -142,7 +129,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
 
             // 构建请求消息
             MicrophoneCommand.PauseMicRecordingCommand.Request request = MicrophoneCommand.PauseMicRecordingCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求
@@ -169,7 +156,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
 
             // 构建请求消息
             MicrophoneCommand.ResumeMicRecordingCommand.Request request = MicrophoneCommand.ResumeMicRecordingCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求
@@ -197,7 +184,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
 
             // 构建请求消息
             MicrophoneCommand.SetMicPhoneVolumeCommand.Request request = MicrophoneCommand.SetMicPhoneVolumeCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .setVolume(volume)
                     .build();
 
@@ -226,7 +213,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
 
             // 构建请求消息
             MicrophoneCommand.GetMicPhoneVolumeCommand.Request request = MicrophoneCommand.GetMicPhoneVolumeCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求并获取响应

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java

@@ -9,6 +9,7 @@ import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.service.EdgeSpeakerService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
 import com.google.protobuf.Timestamp;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
@@ -37,20 +38,6 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      */
     private final GrpcServiceManager grpcServiceManager;
 
-    /**
-     * 构建请求头
-     */
-    private static Common.CommandHeader.Request buildRequest(String deviceId) {
-        return Common.CommandHeader.Request.newBuilder()
-                .setDeviceId(deviceId)
-                .setTimestamp(
-                        Timestamp.newBuilder()
-                                .setSeconds(System.currentTimeMillis() / 1000)
-                                .build()
-                )
-                .build();
-    }
-
     /**
      * 获取扬声器当前状态
      * 通过gRPC调用获取扬声器的运行状态，包括是否正在播放、音量等信息
@@ -65,7 +52,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
         try {
             SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
             SpeakerCommand.GetSpeakerStateCommand.Request request = SpeakerCommand.GetSpeakerStateCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
             // 直接返回完整的 Feedback
             return stub.getStatus(request);
@@ -92,7 +79,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
 
             // 构建请求消息
             SpeakerCommand.PlayAudioCommand.Request request = SpeakerCommand.PlayAudioCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .setAudioPath(audioPath)
                     .build();
 
@@ -123,7 +110,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
 
             // 构建请求消息
             SpeakerCommand.StopSpeakerCommand.Request request = SpeakerCommand.StopSpeakerCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求
@@ -150,7 +137,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
 
             // 构建请求消息
             SpeakerCommand.PauseSpeakerCommand.Request request = SpeakerCommand.PauseSpeakerCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求
@@ -177,7 +164,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
 
             // 构建请求消息
             SpeakerCommand.ResumeSpeakerCommand.Request request = SpeakerCommand.ResumeSpeakerCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求
@@ -205,7 +192,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
 
             // 构建请求消息
             SpeakerCommand.SetSpeakerVolumeCommand.Request request = SpeakerCommand.SetSpeakerVolumeCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .setVolume(volume)
                     .build();
 
@@ -234,7 +221,7 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
 
             // 构建请求消息
             SpeakerCommand.GetSpeakerVolumeCommand.Request request = SpeakerCommand.GetSpeakerVolumeCommand.Request.newBuilder()
-                    .setHeader(buildRequest(deviceId))
+                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
 
             // 发送请求并获取响应

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java

@@ -0,0 +1,424 @@
+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/humanoid_robot.proto")
+@io.grpc.stub.annotations.GrpcGenerated
+public final class HumanoidRobotServiceGrpc {
+
+  private HumanoidRobotServiceGrpc() {}
+
+  public static final String SERVICE_NAME = "cmvr.api.HumanoidRobotService";
+
+  // Static method descriptors that strictly reflect the proto.
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
+      cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "torqueOff",
+      requestType = cmvr.api.Common.CommandHeader.Request.class,
+      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
+      cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
+    if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
+      synchronized (HumanoidRobotServiceGrpc.class) {
+        if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
+          HumanoidRobotServiceGrpc.getTorqueOffMethod = getTorqueOffMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOff"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOff"))
+              .build();
+        }
+      }
+    }
+    return getTorqueOffMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
+      cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "torqueOn",
+      requestType = cmvr.api.Common.CommandHeader.Request.class,
+      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
+      cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
+    if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
+      synchronized (HumanoidRobotServiceGrpc.class) {
+        if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
+          HumanoidRobotServiceGrpc.getTorqueOnMethod = getTorqueOnMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOn"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOn"))
+              .build();
+        }
+      }
+    }
+    return getTorqueOnMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobot.MoveJ.Request,
+      cmvr.api.HumanoidRobot.MoveJ.Response> getMoveJMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "moveJ",
+      requestType = cmvr.api.HumanoidRobot.MoveJ.Request.class,
+      responseType = cmvr.api.HumanoidRobot.MoveJ.Response.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobot.MoveJ.Request,
+      cmvr.api.HumanoidRobot.MoveJ.Response> getMoveJMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobot.MoveJ.Request, cmvr.api.HumanoidRobot.MoveJ.Response> getMoveJMethod;
+    if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
+      synchronized (HumanoidRobotServiceGrpc.class) {
+        if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
+          HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobot.MoveJ.Request, cmvr.api.HumanoidRobot.MoveJ.Response>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveJ"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.HumanoidRobot.MoveJ.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.HumanoidRobot.MoveJ.Response.getDefaultInstance()))
+              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveJ"))
+              .build();
+        }
+      }
+    }
+    return getMoveJMethod;
+  }
+
+  /**
+   * Creates a new async stub that supports all call types for the service
+   */
+  public static HumanoidRobotServiceStub newStub(io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub>() {
+        @java.lang.Override
+        public HumanoidRobotServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new HumanoidRobotServiceStub(channel, callOptions);
+        }
+      };
+    return HumanoidRobotServiceStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
+   */
+  public static HumanoidRobotServiceBlockingStub newBlockingStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub>() {
+        @java.lang.Override
+        public HumanoidRobotServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new HumanoidRobotServiceBlockingStub(channel, callOptions);
+        }
+      };
+    return HumanoidRobotServiceBlockingStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new ListenableFuture-style stub that supports unary calls on the service
+   */
+  public static HumanoidRobotServiceFutureStub newFutureStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub>() {
+        @java.lang.Override
+        public HumanoidRobotServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new HumanoidRobotServiceFutureStub(channel, callOptions);
+        }
+      };
+    return HumanoidRobotServiceFutureStub.newStub(factory, channel);
+  }
+
+  /**
+   */
+  public static abstract class HumanoidRobotServiceImplBase implements io.grpc.BindableService {
+
+    /**
+     */
+    public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOffMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void moveJ(cmvr.api.HumanoidRobot.MoveJ.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobot.MoveJ.Response> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver);
+    }
+
+    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
+      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
+          .addMethod(
+            getTorqueOffMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.Common.CommandHeader.Request,
+                cmvr.api.Common.CommandHeader.Feedback>(
+                  this, METHODID_TORQUE_OFF)))
+          .addMethod(
+            getTorqueOnMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.Common.CommandHeader.Request,
+                cmvr.api.Common.CommandHeader.Feedback>(
+                  this, METHODID_TORQUE_ON)))
+          .addMethod(
+            getMoveJMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.HumanoidRobot.MoveJ.Request,
+                cmvr.api.HumanoidRobot.MoveJ.Response>(
+                  this, METHODID_MOVE_J)))
+          .build();
+    }
+  }
+
+  /**
+   */
+  public static final class HumanoidRobotServiceStub extends io.grpc.stub.AbstractAsyncStub<HumanoidRobotServiceStub> {
+    private HumanoidRobotServiceStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected HumanoidRobotServiceStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new HumanoidRobotServiceStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void moveJ(cmvr.api.HumanoidRobot.MoveJ.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobot.MoveJ.Response> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getMoveJMethod(), getCallOptions()), request, responseObserver);
+    }
+  }
+
+  /**
+   */
+  public static final class HumanoidRobotServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<HumanoidRobotServiceBlockingStub> {
+    private HumanoidRobotServiceBlockingStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected HumanoidRobotServiceBlockingStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new HumanoidRobotServiceBlockingStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public cmvr.api.Common.CommandHeader.Feedback torqueOff(cmvr.api.Common.CommandHeader.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getTorqueOffMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.Common.CommandHeader.Feedback torqueOn(cmvr.api.Common.CommandHeader.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getTorqueOnMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.HumanoidRobot.MoveJ.Response moveJ(cmvr.api.HumanoidRobot.MoveJ.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getMoveJMethod(), getCallOptions(), request);
+    }
+  }
+
+  /**
+   */
+  public static final class HumanoidRobotServiceFutureStub extends io.grpc.stub.AbstractFutureStub<HumanoidRobotServiceFutureStub> {
+    private HumanoidRobotServiceFutureStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected HumanoidRobotServiceFutureStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new HumanoidRobotServiceFutureStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> torqueOff(
+        cmvr.api.Common.CommandHeader.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> torqueOn(
+        cmvr.api.Common.CommandHeader.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobot.MoveJ.Response> moveJ(
+        cmvr.api.HumanoidRobot.MoveJ.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getMoveJMethod(), getCallOptions()), request);
+    }
+  }
+
+  private static final int METHODID_TORQUE_OFF = 0;
+  private static final int METHODID_TORQUE_ON = 1;
+  private static final int METHODID_MOVE_J = 2;
+
+  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 HumanoidRobotServiceImplBase serviceImpl;
+    private final int methodId;
+
+    MethodHandlers(HumanoidRobotServiceImplBase 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_TORQUE_OFF:
+          serviceImpl.torqueOff((cmvr.api.Common.CommandHeader.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
+          break;
+        case METHODID_TORQUE_ON:
+          serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
+          break;
+        case METHODID_MOVE_J:
+          serviceImpl.moveJ((cmvr.api.HumanoidRobot.MoveJ.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobot.MoveJ.Response>) 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) {
+        default:
+          throw new AssertionError();
+      }
+    }
+  }
+
+  private static abstract class HumanoidRobotServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
+    HumanoidRobotServiceBaseDescriptorSupplier() {}
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
+      return cmvr.api.HumanoidRobot.getDescriptor();
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
+      return getFileDescriptor().findServiceByName("HumanoidRobotService");
+    }
+  }
+
+  private static final class HumanoidRobotServiceFileDescriptorSupplier
+      extends HumanoidRobotServiceBaseDescriptorSupplier {
+    HumanoidRobotServiceFileDescriptorSupplier() {}
+  }
+
+  private static final class HumanoidRobotServiceMethodDescriptorSupplier
+      extends HumanoidRobotServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
+    private final String methodName;
+
+    HumanoidRobotServiceMethodDescriptorSupplier(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 (HumanoidRobotServiceGrpc.class) {
+        result = serviceDescriptor;
+        if (result == null) {
+          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
+              .setSchemaDescriptor(new HumanoidRobotServiceFileDescriptorSupplier())
+              .addMethod(getTorqueOffMethod())
+              .addMethod(getTorqueOnMethod())
+              .addMethod(getMoveJMethod())
+              .build();
+        }
+      }
+    }
+    return result;
+  }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot.proto

@@ -0,0 +1,32 @@
+
+
+syntax = "proto3";
+package cmvr.api;
+import "cmvr/api/common.proto";
+
+message JointCmd {
+  string joint_name = 1;  // 关节名称
+  double rad = 2;         // 弧度
+  double vel = 3;         // 角速度，rad/s
+}
+
+
+message MoveJ{
+    message Request{
+      CommandHeader.Request header = 1;
+      repeated JointCmd cmds = 2;
+      double vel = 3;
+      double acc = 4;
+    }
+
+    message Response{
+        CommandHeader.Feedback header= 1;
+    }
+
+}
+
+service HumanoidRobotService{
+  rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
+}