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feat: 机械臂

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stream 2025-08-26 10:48:40 +08:00
parent 3b036d983e
commit faf85b3634
16 changed files with 3584 additions and 100 deletions
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35
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeBioHeadController.java
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@ -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));
}

27
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java Normal file
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@ -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));
}
}

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java
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@ -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));
}

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/biohead/EdgeCommonVO.java → cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/EdgeCommonVO.java
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@ -1,4 +1,4 @@
package com.cmvr.edge.client.model.biohead;
package com.cmvr.edge.client.model;
import lombok.Data;

1
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/biohead/EdgeFacialExpressionVO.java
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@ -1,6 +1,7 @@
package com.cmvr.edge.client.model.biohead;
import com.cmvr.edge.client.model.EdgeCommonVO;
import lombok.Data;

29
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeMoveJVO.java Normal file
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@ -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
}
}

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java
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@ -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;
/**

14
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java Normal file
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@ -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);
}

2
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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@ -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;

31
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java
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@ -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;

48
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java Normal file
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@ -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());
}
}

29
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java
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@ -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

29
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java
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@ -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

2977
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobot.java Normal file
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424
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java Normal file
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@ -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;
}
}

32
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot.proto Normal file
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@ -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);
}