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4
.gitignore vendored
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@ -45,7 +45,3 @@ nbdist/
!*/build/*.java
!*/build/*.html
!*/build/*.xml
# Local verification tests
/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateServiceTest.java
/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateServiceTest.java

19
README.md
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@ -7,7 +7,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
## 主要功能
- 系统管理：用户、角色、部门、菜单、字典、参数、日志和通知。
- 机器人设备：以边缘端上报的永久 `robotId` 作为唯一业务身份，自动同步机器人地址、在线状态和设备清单。
- 设备管理：设备注册、终端配置、设备档案和机器人配置。
- 测试业务：任务配置、任务编排、任务实例、检测项、语音唤醒、Flowise 和 AI 评估。
- 智能巡检：机器人、地图、点位、任务、执行实例、巡检结果和告警。
- 智能座舱：语音交互、触控交互、TTS、语料库和车机操作配置。
@ -41,7 +41,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
| `cmvr-iot-system` | 用户、角色、菜单、字典、参数和通用分组 |
| `cmvr-iot-quartz` | Quartz 任务调度和任务日志 |
| `cmvr-iot-generator` | 代码生成 |
| `cmvr-iot-device` | 设备协议模型、机器人配置和巡检告警监听 |
| `cmvr-iot-device` | 设备、终端和机器人配置 |
| `cmvr-iot-test` | 测试任务、流程、检测项和执行实例 |
| `cmvr-iot-vi` | 语音交互业务 |
| `cmvr-iot-ti` | 触控交互业务 |
@ -54,7 +54,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client` | 原有机器人 gRPC 客户端 |
| `cmvr-iot-quic-contract` | QUIC 控制、节点事件和媒体数据协议 |
| `cmvr-iot-quic` | 与主应用同进程运行的 QUIC Gateway |
| `cmvr-iot-ui-lxl-dev-worktree` | Vue 3 管理控制台（同级独立前端仓库） |
| `ruoyi-ui` | Vue 3 管理控制台 |
## 环境准备
@ -79,8 +79,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
- `sql/aima_module.sql`：爱玛业务。
- `sql/inspection_module.sql`、`inspection_result.sql`、`inspection_detection_alert.sql`：巡检业务。
- `sql/tts_corpus_module.sql`：TTS 和语料业务。
- `sql/robot_quic_identity_migration.sql`：机器人 QUIC 身份、运行状态和设备快照表。
- `sql/robot_id_only_migration.sql`：移除巡检机器人和任务实例中的历史终端 ID 字段。
- `sql/quic_gateway_terminal_migration.sql`：QUIC 节点绑定及运行状态字段。
补充脚本可能面向不同历史库版本。已有数据库升级前应先备份，并确认字段或索引尚未存在。
@ -112,7 +111,7 @@ Knife4j 只展示带原有 `@ApiOperation` 注解的正式接口，并沿用中
## 前端运行
```bash
cd ../cmvr-iot-ui-lxl-dev-worktree
cd ruoyi-ui
pnpm install
pnpm dev
```
@ -121,9 +120,7 @@ pnpm dev
## gRPC 与 QUIC
原有机器人 gRPC 客户端与 proto 均保留，但业务调用只传永久 `robotId`。平台根据 `inspection_robot.robot_id` 查找 QUIC 最近同步的 `ip_address` 和 `port`，不再使用终端 ID 或终端配置解析 gRPC 地址。
边缘端通过 QUIC 上报设备快照后，平台按 `robotId + deviceId` 写入 `inspection_robot_device`。前端选择机器人后只展示该机器人当前在线且启用的设备；单一匹配设备会自动选中并锁定。
原有机器人 gRPC 客户端与 proto 均保留。终端 gRPC 地址优先读取 `de_device_terminal_config` 的 `host` 和 `port`，没有终端配置时使用当前 profile 中的 `grpc.client.grpc-server.address`。
QUIC 不是独立服务，`cmvr-iot-quic` 已作为 `cmvr-iot-admin` 的运行时依赖。启用时主应用同时启动：
@ -142,7 +139,7 @@ mvn test
mvn clean package -DskipTests
# 构建前端生产包
cd ../cmvr-iot-ui-lxl-dev-worktree
cd ruoyi-ui
pnpm build:prod
```
@ -151,6 +148,6 @@ Windows 下也可以使用 `bin/package.bat`、`bin/run.bat` 和 `bin/clean.bat`
## 排查提示
- `ApplicationContext ... has been closed already`：彻底停止旧 Java 进程后重新启动，不要使用 DevTools 热重启。
- 找不到机器人或机器人离线：确认机器人表已登记相同的永久 `robotId`，并检查 QUIC 注册日志、`inspection_robot` 的地址和连接状态。
- `cannot find a NameResolver for static://...`：这是 gRPC target scheme 解析问题，不代表网络不通；检查 `GrpcServiceManager` 的通道创建方式和终端地址格式。
- QUIC 启动失败：检查证书、私钥、ALPN、UDP 端口占用和 native library 对应的操作系统架构。
- 数据库提示缺少字段：确认基础脚本版本及对应模块迁移脚本已经执行。

4
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java
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@ -28,9 +28,9 @@ public class DeviceListController {
@PreAuthorize("@ss.hasPermi('device:profile:list')")
@GetMapping("/addList")
@ApiOperation("同步设备信息列表")
public int addDeviceList(@RequestParam String robotId){
public int addDeviceList(@RequestParam String terminalId){
List<DeDeviceRegistration> list = systemService.deviceList(robotId);
List<DeDeviceRegistration> list = systemService.deviceList(terminalId);
return registrationService.addDeviceList(list);
}

71
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java
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@ -1,6 +1,6 @@
package com.cmvr.web.controller.api;
import cmvr.msgs.AgvUtils;
import cmvr.msgs.Agv;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO;
@ -12,14 +12,12 @@ import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
import com.cmvr.edge.client.service.EdgeAgvService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import io.swagger.annotations.ApiParam;
import lombok.RequiredArgsConstructor;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
import java.util.ArrayList;
@ -50,13 +48,8 @@ public class EdgeAgvController {
*/
@ApiOperation("获取AGV运行时状态")
@GetMapping("/getRuntimeState")
public AjaxResult getRuntimeState(
@ApiParam(value = "机器人永久唯一ID", required = true)
@RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
public AjaxResult getRuntimeState(@Validated EdgeCommonVO vo) {
Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
return AjaxResult.ok(toRuntimeStateMap(state));
}
@ -65,13 +58,8 @@ public class EdgeAgvController {
*/
@ApiOperation("获取导航状态")
@GetMapping("/getNavigationStatus")
public AjaxResult getNavigationStatus(
@ApiParam(value = "机器人永久唯一ID", required = true)
@RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
public AjaxResult getNavigationStatus(@Validated EdgeCommonVO vo) {
Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
Map<String, Object> resultMap = new HashMap<>();
resultMap.put("state", status.getState());
resultMap.put("type", status.getType());
@ -106,7 +94,7 @@ public class EdgeAgvController {
@ApiOperation("导航到指定位置")
@PostMapping("/navigateToPose")
public AjaxResult navigateToPose(@RequestBody @Validated EdgeAgvNavigateToPoseVO vo) {
AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
.setX(vo.getX())
.setY(vo.getY())
.setTheta(vo.getTheta())
@ -161,7 +149,7 @@ public class EdgeAgvController {
@ApiOperation("设置速度")
@PostMapping("/setVelocity")
public AjaxResult setVelocity(@RequestBody @Validated EdgeAgvVelocityVO vo) {
AgvUtils.AgvVelocity velocity = AgvUtils.AgvVelocity.newBuilder()
Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder()
.setVx(vo.getVx())
.setVy(vo.getVy())
.setWz(vo.getWz())
@ -185,12 +173,7 @@ public class EdgeAgvController {
*/
@ApiOperation("列出所有地图")
@GetMapping("/listMaps")
public AjaxResult listMaps(
@ApiParam(value = "机器人永久唯一ID", required = true)
@RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
public AjaxResult listMaps(@Validated EdgeCommonVO vo) {
List<String> maps = edgeAgvService.listMaps(vo);
return AjaxResult.ok(maps);
}
@ -200,15 +183,10 @@ public class EdgeAgvController {
*/
@ApiOperation("列出所有站点")
@GetMapping("/listStations")
public AjaxResult listStations(
@ApiParam(value = "机器人永久ID", required = true)
@RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
List<AgvUtils.AgvStation> stations = edgeAgvService.listStations(vo);
public AjaxResult listStations(@Validated EdgeCommonVO vo) {
List<Agv.AgvStation> stations = edgeAgvService.listStations(vo);
List<Map<String, Object>> stationList = new ArrayList<>();
for (AgvUtils.AgvStation station : stations) {
for (Agv.AgvStation station : stations) {
stationList.add(toStationMap(station));
}
return AjaxResult.ok(stationList);
@ -239,17 +217,7 @@ public class EdgeAgvController {
*/
@ApiOperation("下载地图")
@GetMapping("/downloadMap")
public AjaxResult downloadMap(
@ApiParam(value = "机器人永久唯一ID", required = true)
@RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true)
@RequestParam("deviceId") String deviceId,
@ApiParam(value = "地图名称", required = true)
@RequestParam("mapName") String mapName) {
EdgeAgvMapNameVO vo = new EdgeAgvMapNameVO();
vo.setRobotId(robotId);
vo.setDeviceId(deviceId);
vo.setMapName(mapName);
public AjaxResult downloadMap(@Validated EdgeAgvMapNameVO vo) {
String content = edgeAgvService.downloadMap(vo, vo.getMapName());
return AjaxResult.ok(content);
}
@ -260,7 +228,7 @@ public class EdgeAgvController {
@ApiOperation("开始建图")
@PostMapping("/startMapping")
public AjaxResult startMapping(@RequestBody @Validated EdgeAgvStartMappingVO vo) {
AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(vo.getDimension());
Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(vo.getDimension());
if (mapDimension == null) {
return AjaxResult.error("建图维度不合法，允许值：0=未指定，1=2D，2=3D，3=2D+3D");
}
@ -284,14 +252,7 @@ public class EdgeAgvController {
/**
* 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。
*/
private EdgeCommonVO commonVo(String robotId, String deviceId) {
EdgeCommonVO vo = new EdgeCommonVO();
vo.setRobotId(robotId);
vo.setDeviceId(deviceId);
return vo;
}
private Map<String, Object> toRuntimeStateMap(AgvUtils.AgvRuntimeState state) {
private Map<String, Object> toRuntimeStateMap(Agv.AgvRuntimeState state) {
Map<String, Object> resultMap = new HashMap<>();
resultMap.put("timestamp", state.getTimestamp());
resultMap.put("mode", state.getMode());
@ -330,7 +291,7 @@ public class EdgeAgvController {
/**
* 将 protobuf 站点对象转换为普通 Map。
*/
private Map<String, Object> toStationMap(AgvUtils.AgvStation station) {
private Map<String, Object> toStationMap(Agv.AgvStation station) {
Map<String, Object> stationMap = new HashMap<>();
stationMap.put("id", station.getId());
stationMap.put("type", station.getType());
@ -344,7 +305,7 @@ public class EdgeAgvController {
/**
* 将 protobuf 二维位姿转换为普通 Map。
*/
private Map<String, Object> toPoseMap(AgvUtils.AgvPose2d pose) {
private Map<String, Object> toPoseMap(Agv.AgvPose2d pose) {
Map<String, Object> poseMap = new HashMap<>();
poseMap.put("x", pose.getX());
poseMap.put("y", pose.getY());

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

@ -7,13 +7,12 @@ import com.cmvr.edge.client.model.arm.*;
import com.cmvr.edge.client.service.EdgeArmService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import io.swagger.annotations.ApiParam;
import lombok.RequiredArgsConstructor;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
/**
@ -32,20 +31,14 @@ public class EdgeArmController {
@ApiOperation("关闭力矩")
@GetMapping("/torqueOff")
public AjaxResult torqueOff(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
public AjaxResult torqueOff(EdgeCommonVO vo) {
edgeArmService.torqueOff(vo);
return AjaxResult.ok();
}
@ApiOperation("开启力矩")
@GetMapping("/torqueOn")
public AjaxResult torqueOn(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
public AjaxResult torqueOn(EdgeCommonVO vo) {
edgeArmService.torqueOn(vo);
return AjaxResult.ok();
}
@ -55,10 +48,7 @@ public class EdgeArmController {
*/
@ApiOperation("清除故障")
@GetMapping("/clearFault")
public AjaxResult clearFault(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
public AjaxResult clearFault(EdgeCommonVO vo) {
edgeArmService.clearFault(vo);
return AjaxResult.ok();
}
@ -136,20 +126,14 @@ public class EdgeArmController {
@ApiOperation("停止运动")
@GetMapping("/stopMotion")
public AjaxResult stopMotion(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
public AjaxResult stopMotion(EdgeCommonVO vo) {
edgeArmService.stopMotion(vo);
return AjaxResult.ok();
}
@ApiOperation("获取关节状态")
@GetMapping("/getJointState")
public AjaxResult getJointState(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO vo = commonVo(robotId, deviceId);
public AjaxResult getJointState(EdgeCommonVO vo) {
ArmCommand.JointResponse result = edgeArmService.getJointState(vo);
ArmCommand.JointState state = result.getState();
@ -166,12 +150,7 @@ public class EdgeArmController {
@ApiOperation("获取末端位姿")
@GetMapping("/getPose")
public AjaxResult getPose(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
@ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
@ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink);
public AjaxResult getPose(@Validated EdgeArmPoseQueryVO vo) {
ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink());
ArmCommand.CartesianPose pose = result.getPose();
@ -189,26 +168,14 @@ public class EdgeArmController {
@ApiOperation("标定零点")
@GetMapping("/calibrateZeroQ")
public AjaxResult calibrateZeroQ(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
@ApiParam(value = "关节名称", required = true) @RequestParam("jointName") String jointName) {
EdgeArmCalibrateZeroQVO vo = new EdgeArmCalibrateZeroQVO();
vo.setRobotId(robotId);
vo.setDeviceId(deviceId);
vo.setJointName(jointName);
public AjaxResult calibrateZeroQ(@Validated EdgeArmCalibrateZeroQVO vo) {
edgeArmService.calibrateZeroQ(vo, vo.getJointName());
return AjaxResult.ok();
}
@ApiOperation("获取位姿矩阵")
@GetMapping("/getPoseMatrix")
public AjaxResult getPoseMatrix(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
@ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
@ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink);
public AjaxResult getPoseMatrix(@Validated EdgeArmPoseQueryVO vo) {
ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink());
// 将TransformMatrix4x4转换为Map
ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
@ -262,20 +229,4 @@ public class EdgeArmController {
matrixMap.put("m33", matrix.getM33());
return AjaxResult.ok(matrixMap);
}
private EdgeCommonVO commonVo(String robotId, String deviceId) {
EdgeCommonVO vo = new EdgeCommonVO();
vo.setRobotId(robotId);
vo.setDeviceId(deviceId);
return vo;
}
private EdgeArmPoseQueryVO poseQueryVo(String robotId, String deviceId, String baseLink, String eeLink) {
EdgeArmPoseQueryVO vo = new EdgeArmPoseQueryVO();
vo.setRobotId(robotId);
vo.setDeviceId(deviceId);
vo.setBaseLink(baseLink);
vo.setEeLink(eeLink);
return vo;
}
}

62
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmTeleopController.java
View File

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

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

@ -4,24 +4,13 @@ import com.alibaba.fastjson2.JSON;
import com.cmvr.common.core.controller.BaseController;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
import com.cmvr.edge.client.service.EdgeCameraService;
import com.cmvr.web.service.CameraStreamTicketService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import io.swagger.annotations.ApiParam;
import lombok.RequiredArgsConstructor;
import org.springframework.http.CacheControl;
import org.springframework.http.HttpStatus;
import org.springframework.http.MediaType;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBody;
@Api(tags = "边缘--相机")
@RestController
@ -30,127 +19,46 @@ import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBo
public class EdgeCameraController extends BaseController {
private final EdgeCameraService edgeCameraService;
private final CameraStreamTicketService cameraStreamTicketService;
@ApiOperation("获取相机状态")
@GetMapping("/status")
public AjaxResult status(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult status(EdgeCommonVO edgeCommonVO) {
return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO)));
}
@ApiOperation("开启相机")
@GetMapping("/start")
public AjaxResult start(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult start(EdgeCommonVO edgeCommonVO) {
return success(edgeCameraService.start(edgeCommonVO));
}
@ApiOperation("关闭相机")
@GetMapping("/stop")
public AjaxResult stop(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult stop(EdgeCommonVO edgeCommonVO) {
return success(edgeCameraService.stop(edgeCommonVO));
}
@ApiOperation("获取图片")
@GetMapping("/getRGBImage")
public AjaxResult getRGBImage(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult getRGBImage(EdgeCommonVO edgeCommonVO) {
return success(edgeCameraService.getRGBImage(edgeCommonVO));
}
@ApiOperation("Get one depth image")
@GetMapping("/getDepthImage")
public AjaxResult getDepthImage(
@RequestParam("robotId") String robotId,
@RequestParam("deviceId") String deviceId) {
return success(edgeCameraService.getDepthImage(commonVo(robotId, deviceId)));
}
@ApiOperation("Control camera PTZ")
@PostMapping("/controlPtz")
public AjaxResult controlPtz(@RequestBody EdgeCameraPtzVO request) {
return success(edgeCameraService.controlPtz(request));
}
@ApiOperation("Get a short-lived RGB video stream URL")
@GetMapping("/rgb-stream-url")
public AjaxResult rgbStreamUrl(
@RequestParam("robotId") String robotId,
@RequestParam("deviceId") String deviceId) {
String ticket = cameraStreamTicketService.issue(robotId, deviceId);
return success((Object) ("/api/edge/camera/rgb-stream?ticket=" + ticket));
}
@ApiOperation("RGB fragmented MP4 live stream")
@GetMapping(value = "/rgb-stream", produces = "video/mp4")
public ResponseEntity<StreamingResponseBody> rgbStream(@RequestParam("ticket") String ticket) {
CameraStreamTicketService.StreamTarget target = cameraStreamTicketService.consume(ticket);
if (target == null) {
return ResponseEntity.status(HttpStatus.UNAUTHORIZED).build();
}
return videoStreamResponse(target.robotId(), target.deviceId());
}
@ApiOperation("Public RGB fragmented MP4 live stream")
@GetMapping(value = "/rgb-stream/public", produces = "video/mp4")
public ResponseEntity<StreamingResponseBody> publicRgbStream(
@RequestParam("robotId") String robotId,
@RequestParam("deviceId") String deviceId) {
return videoStreamResponse(robotId, deviceId);
}
private ResponseEntity<StreamingResponseBody> videoStreamResponse(String robotId, String deviceId) {
StreamingResponseBody body = outputStream -> edgeCameraService.writeRGBVideoStream(
robotId, deviceId, outputStream);
return ResponseEntity.ok()
.contentType(MediaType.parseMediaType("video/mp4"))
.cacheControl(CacheControl.noStore())
.header("X-Accel-Buffering", "no")
.header("X-Content-Type-Options", "nosniff")
.body(body);
}
@ApiOperation("开始录制视频")
@GetMapping("/startRecording")
public AjaxResult startRecording(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult startRecording(EdgeCommonVO edgeCommonVO) {
return success(edgeCameraService.startRecording(edgeCommonVO));
}
@ApiOperation("停止录制视频")
@GetMapping("/stopRecording")
public AjaxResult stopRecording(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult stopRecording(EdgeCommonVO edgeCommonVO) {
return success(edgeCameraService.stopRecording(edgeCommonVO));
}
@ApiOperation("获取图片和视频")
@GetMapping("/getRGBDImages")
public AjaxResult getRGBDImages(
@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
@ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
public AjaxResult getRGBDImages(EdgeCommonVO edgeCommonVO) {
return success(edgeCameraService.getRGBDImages(edgeCommonVO));
}
private EdgeCommonVO commonVo(String robotId, String deviceId) {
EdgeCommonVO vo = new EdgeCommonVO();
vo.setRobotId(robotId);
vo.setDeviceId(deviceId);
return vo;
}
}

12
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeDexHandController.java
View File

@ -25,9 +25,9 @@ public class EdgeDexHandController extends BaseController {
@GetMapping("/status")
public AjaxResult status(
@RequestParam("deviceId") String deviceId,
@RequestParam("robotId") String robotId
@RequestParam("terminalId") String terminalId
) {
return success(JSON.parseObject(JSON.toJSONString(edgeDexHandService.getStatus(robotId, deviceId)), Map.class));
return success(JSON.parseObject(JSON.toJSONString(edgeDexHandService.getStatus(terminalId, deviceId)), Map.class));
}
@ -35,11 +35,11 @@ public class EdgeDexHandController extends BaseController {
@GetMapping("/angle")
public AjaxResult setAngle(
@RequestParam("deviceId") String deviceId,
@RequestParam("robotId") String robotId,
@RequestParam("terminalId") String terminalId,
@RequestParam("id") int id,
@RequestParam("value") float value
) {
edgeDexHandService.setDexHandAngle(robotId, deviceId, id, value);
edgeDexHandService.setDexHandAngle(terminalId, deviceId, id, value);
return success("ok");
}
@ -48,8 +48,8 @@ public class EdgeDexHandController extends BaseController {
@GetMapping("/sensor")
public AjaxResult sensor(
@RequestParam("deviceId") String deviceId,
@RequestParam("robotId") String robotId
@RequestParam("terminalId") String terminalId
) {
return success(JSON.parseObject(edgeDexHandService.getSensorData(robotId, deviceId), Map.class));
return success(JSON.parseObject(edgeDexHandService.getSensorData(terminalId, deviceId), Map.class));
}
}

8
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java
View File

@ -25,9 +25,9 @@ public class EdgeMicrophoneController {
@ApiOperation("获取麦克风状态")
@PreAuthorize("@ss.hasPermi('system:microphone:query')")
@GetMapping("/status")
public AjaxResult getStatus(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
public AjaxResult getStatus(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setRobotId(robotId);
edgeCommonVO.setTerminalId(terminalId);
edgeCommonVO.setDeviceId(deviceId);
return AjaxResult.success(microphoneService.getStatus(edgeCommonVO));
}
@ -75,9 +75,9 @@ public class EdgeMicrophoneController {
@ApiOperation("获取音量")
@PreAuthorize("@ss.hasPermi('system:microphone:volume')")
@GetMapping("/volume")
public AjaxResult getVolume(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
public AjaxResult getVolume(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setRobotId(robotId);
edgeCommonVO.setTerminalId(terminalId);
edgeCommonVO.setDeviceId(deviceId);
return AjaxResult.success(microphoneService.getVolume(edgeCommonVO));
}

114
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMotorController.java
View File

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

22
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSpeakerController.java
View File

@ -33,13 +33,13 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:query')")
@GetMapping("/status")
public AjaxResult getStatus(
@ApiParam(value = "机器人永久唯一ID", required = true)
@RequestParam String robotId,
@ApiParam(value = "终端设备ID", required = true)
@RequestParam String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam String deviceId) {
try {
// 获取扬声器状态
SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(robotId, deviceId);
SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(terminalId, deviceId);
SpeakerCommand.SpeakerState state = feedback.getState();
// 构建返回结果
@ -73,7 +73,7 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:play')")
@PostMapping("/play")
public AjaxResult playAudio(@RequestBody EdgeSpeakerPlayAudioVO edgeSpeakerPlayAudioVO) {
speakerService.playAudio(edgeSpeakerPlayAudioVO.getRobotId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath());
speakerService.playAudio(edgeSpeakerPlayAudioVO.getTerminalId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath());
return AjaxResult.success();
}
@ -84,7 +84,7 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:stop')")
@PostMapping("/stop")
public AjaxResult stopPlayback(@RequestBody EdgeCommonVO edgeCommonVO) {
speakerService.stopPlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
speakerService.stopPlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
return AjaxResult.success();
}
@ -95,7 +95,7 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:pause')")
@PostMapping("/pause")
public AjaxResult pausePlayback(@RequestBody EdgeCommonVO edgeCommonVO) {
speakerService.pausePlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
speakerService.pausePlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
return AjaxResult.success();
}
@ -106,7 +106,7 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:resume')")
@PostMapping("/resume")
public AjaxResult resumePlayback(@RequestBody EdgeCommonVO edgeCommonVO) {
speakerService.resumePlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
speakerService.resumePlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
return AjaxResult.success();
}
@ -117,7 +117,7 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:volume')")
@PostMapping("/volume")
public AjaxResult setVolume(@RequestBody EdgeMicrophoneVolumeVO edgeMicrophoneVolumeVO) {
speakerService.setVolume(edgeMicrophoneVolumeVO.getRobotId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume());
speakerService.setVolume(edgeMicrophoneVolumeVO.getTerminalId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume());
return AjaxResult.success();
}
@ -128,11 +128,11 @@ public class EdgeSpeakerController {
@PreAuthorize("@ss.hasPermi('system:speaker:volume')")
@GetMapping("/volume")
public AjaxResult getVolume(
@ApiParam(value = "机器人永久唯一ID", required = true)
@RequestParam String robotId,
@ApiParam(value = "终端设备ID", required = true)
@RequestParam String terminalId,
@ApiParam(value = "设备ID", required = true)
@RequestParam String deviceId) {
return AjaxResult.success(speakerService.getVolume(robotId, deviceId));
return AjaxResult.success(speakerService.getVolume(terminalId, deviceId));
}
@ApiOperation("获取所有音频")

34
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java
View File

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

23
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
View File

@ -3,7 +3,7 @@ package com.cmvr.web.controller.inspection;
import java.util.List;
import jakarta.servlet.http.HttpServletResponse;
import cmvr.msgs.AgvUtils;
import cmvr.msgs.Agv;
import com.cmvr.inspection.domain.vo.InspectionRobotVo;
import io.swagger.annotations.*;
import org.springframework.security.access.prepost.PreAuthorize;
@ -70,25 +70,6 @@ public class InspectionRobotController extends BaseController
return success(inspectionRobotService.selectInspectionRobotById(id));
}
@ApiOperation("查询机器人自动发现的设备")
@PreAuthorize("@ss.hasPermi('inspection:robot:query')")
@GetMapping("/{id}/devices")
public AjaxResult devices(@PathVariable("id") String id)
{
return success(inspectionRobotService.selectRobotDevices(id));
}
@ApiOperation("按机器人ID查询自动发现的设备")
@PreAuthorize("@ss.hasPermi('inspection:robot:query')")
@GetMapping("/devices")
public AjaxResult devicesByRobotId(
@RequestParam @ApiParam(value = "机器人永久唯一ID", required = true) String robotId,
@RequestParam(required = false) @ApiParam("设备类型") Integer deviceKind,
@RequestParam(defaultValue = "true") @ApiParam("是否只查询在线且启用的设备") boolean onlineOnly)
{
return success(inspectionRobotService.selectRobotDevicesByRobotId(robotId, deviceKind, onlineOnly));
}
/**
* 新增巡检机器人
*/
@ -199,7 +180,7 @@ public class InspectionRobotController extends BaseController
@GetMapping("/{robotId}/location")
public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
{
AgvUtils.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
return success(location);
}

3
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java
View File

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

2
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java
View File

@ -51,7 +51,7 @@ public class TeFlowiseController extends BaseController {
runParams.put("5bb26d52e1861c6936f3c3149eaf17e8", runParams1);
TeTaskExecuteNormalVO taskExecuteNormalVO = TeTaskExecuteNormalVO.builder()
.taskId("b6ab5ffff783d9b25d0dc34f13be222d")
.robotId("4ed1246c465b97975f96c9ef8371a3bd")
.terminalId("4ed1246c465b97975f96c9ef8371a3bd")
.runParams(JSONObject.from(runParams)).build();
if (!taskInstIdList.isEmpty()) {
try {

38
cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java
View File

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

36
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java
View File

@ -62,33 +62,33 @@ public class RobotAudioGrpcAdapter {
private final GrpcServiceManager grpcServiceManager;
private final ConcurrentMap<String, RobotAudioStream> streams = new ConcurrentHashMap<>();
public RobotAudioStream openStream(String robotId,
public RobotAudioStream openStream(String terminalId,
String deviceId,
String sessionId,
String operatorId,
RobotAudioStreamListener listener) {
return openStream(robotId, deviceId, deviceId, sessionId, operatorId, listener);
return openStream(terminalId, deviceId, deviceId, sessionId, operatorId, listener);
}
public RobotAudioStream openStream(String robotId,
public RobotAudioStream openStream(String terminalId,
String speakerDeviceId,
String micDeviceId,
String sessionId,
String operatorId,
RobotAudioStreamListener listener) {
SpeakerServiceGrpc.SpeakerServiceStub speakerStub =
grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceStub.class);
grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceStub.class);
MicPhoneServiceGrpc.MicPhoneServiceStub micStub =
grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub speakerBlockingStub =
grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub micBlockingStub =
grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
preflightDeviceStatus(speakerBlockingStub, micBlockingStub, speakerDeviceId, micDeviceId, sessionId);
RobotAudioStream stream = new RobotAudioStream(
robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
RobotAudioStream exists = streams.putIfAbsent(sessionId, stream);
if (exists != null) {
throw new IllegalStateException("实时语音会话已存在：" + sessionId);
@ -96,8 +96,8 @@ public class RobotAudioGrpcAdapter {
try {
stream.start();
log.info("实时对讲 gRPC 流已创建，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
sessionId, robotId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
log.info("实时对讲 gRPC 流已创建，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
sessionId, terminalId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
return stream;
} catch (RuntimeException e) {
streams.remove(sessionId, stream);
@ -163,7 +163,7 @@ public class RobotAudioGrpcAdapter {
}
public class RobotAudioStream {
private final String robotId;
private final String terminalId;
private final String speakerDeviceId;
private final String micDeviceId;
private final String sessionId;
@ -190,7 +190,7 @@ public class RobotAudioGrpcAdapter {
private volatile long lastStatsLogAt;
private volatile byte[] pendingBrowserBytes = new byte[0];
private RobotAudioStream(String robotId,
private RobotAudioStream(String terminalId,
String speakerDeviceId,
String micDeviceId,
String sessionId,
@ -198,7 +198,7 @@ public class RobotAudioGrpcAdapter {
SpeakerServiceGrpc.SpeakerServiceStub speakerStub,
MicPhoneServiceGrpc.MicPhoneServiceStub micStub,
RobotAudioStreamListener listener) {
this.robotId = robotId;
this.terminalId = terminalId;
this.speakerDeviceId = speakerDeviceId;
this.micDeviceId = micDeviceId;
this.sessionId = sessionId;
@ -365,8 +365,8 @@ public class RobotAudioGrpcAdapter {
return sessionId;
}
public String getRobotId() {
return robotId;
public String getTerminalId() {
return terminalId;
}
public String getDeviceId() {
@ -639,8 +639,8 @@ public class RobotAudioGrpcAdapter {
return;
}
Throwable actual = throwable == null ? new RuntimeException("audio stream failed") : throwable;
log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
source, sessionId, robotId, speakerDeviceId, micDeviceId, actual);
log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
source, sessionId, terminalId, speakerDeviceId, micDeviceId, actual);
sendExecutor.execute(new Runnable() {
@Override
public void run() {
@ -660,7 +660,7 @@ public class RobotAudioGrpcAdapter {
if (!closed.compareAndSet(false, true)) {
return;
}
log.info("实时对讲 gRPC 流远端结束，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId);
log.info("实时对讲 gRPC 流远端结束，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
sendExecutor.execute(new Runnable() {
@Override
public void run() {

102
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcBidiSessionRegistry.java
View File

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

14
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcChannelCache.java
View File

@ -14,7 +14,7 @@ import java.util.function.Function;
public class GrpcChannelCache {
private final long ttlSeconds; // 通道存活时间（秒）
private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 机器人 ID -> 通道包装器
private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 设备 ID -> 通道包装器
public GrpcChannelCache(long ttlSeconds) {
this.ttlSeconds = ttlSeconds;
@ -23,11 +23,11 @@ public class GrpcChannelCache {
/**
* 获取通道：存在则刷新时间，过期则重建，不存在则创建
*/
public ManagedChannel get(String robotId, Function<String, ManagedChannel> supplier) {
return channelMap.compute(robotId, (k, v) -> {
public ManagedChannel get(String terminalId, Function<String, ManagedChannel> supplier) {
return channelMap.compute(terminalId, (k, v) -> {
if (v == null || v.isExpired(ttlSeconds)) { // 为空或过期时重建
if (v != null) v.close(); // 关闭旧通道
return new ChannelWrapper(supplier.apply(robotId)); // 创建新通道包装器
return new ChannelWrapper(supplier.apply(terminalId)); // 创建新通道包装器
} else {
v.refresh(); // 更新最后访问时间
return v;
@ -50,11 +50,11 @@ public class GrpcChannelCache {
}
/**
* 机器人主动上报的gRPC地址发生变化时立即关闭旧通道。
* 终端主动上报的gRPC地址发生变化时立即关闭旧通道。
* 下一次业务调用仍通过原有supplier创建ManagedChannel。
*/
public void invalidate(String robotId) {
ChannelWrapper wrapper = channelMap.remove(robotId);
public void invalidate(String terminalId) {
ChannelWrapper wrapper = channelMap.remove(terminalId);
if (wrapper != null) {
wrapper.close();
}

91
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java
View File

@ -1,9 +1,10 @@
package com.cmvr.edge.client.manage;
import cmvr.api.*;
import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
import com.cmvr.common.robot.RobotEndpoint;
import com.cmvr.common.robot.RobotEndpointResolver;
import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil;
import com.cmvr.device.domain.DeDeviceTerminalConfig;
import com.cmvr.device.service.IDeDeviceTerminalConfigService;
import io.grpc.ManagedChannel;
import io.grpc.ManagedChannelBuilder;
import lombok.RequiredArgsConstructor;
@ -12,7 +13,6 @@ import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import jakarta.annotation.PostConstruct;
import java.net.InetSocketAddress;
import java.util.Map;
import java.util.concurrent.*;
import java.util.function.Function;
@ -24,7 +24,7 @@ import java.util.function.Function;
@RequiredArgsConstructor
public class GrpcServiceManager {
private final RobotEndpointResolver robotEndpointResolver;
private final IDeDeviceTerminalConfigService deviceTerminalConfigService;
@Value("${grpc.client.grpc-server.address}")
private String DEFAULT_GRPC_ADDRESS;
@ -61,9 +61,6 @@ public class GrpcServiceManager {
clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
// 注册agv服务的stub
clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
clientFactories.put(MotorServiceGrpc.MotorServiceBlockingStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newBlockingStub));
clientFactories.put(MotorServiceGrpc.MotorServiceStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newStub));
clientFactories.put(ArmTeleopServiceGrpc.ArmTeleopServiceStub.class, new GrpcClientFactory<>(ArmTeleopServiceGrpc::newStub));
// 注册机器人实时语音双向流服务的异步Stub
}
@ -72,8 +69,8 @@ public class GrpcServiceManager {
* 获取 gRPC 客户端 Stub
*/
@SuppressWarnings("unchecked")
public <T> T getGrpcClient(String robotId, Class<T> serviceClass) {
ManagedChannel channel = grpcChannelCache.get(robotId, this::createChannel);
public <T> T getGrpcClient(String terminalId, Class<T> serviceClass) {
ManagedChannel channel = grpcChannelCache.get(terminalId, this::createChannel);
GrpcClientFactory<T> factory = (GrpcClientFactory<T>) clientFactories.get(serviceClass);
if (factory == null) {
@ -86,9 +83,9 @@ public class GrpcServiceManager {
/**
* 创建gRPC通道
*/
private ManagedChannel createChannel(String robotId) {
InetSocketAddress endpoint = getGrpcServiceEndpoint(robotId);
return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort())
private ManagedChannel createChannel(String terminalId) {
String grpcAddress = getGrpcServiceAddress(terminalId);
return ManagedChannelBuilder.forTarget(grpcAddress)
.usePlaintext()
.maxInboundMessageSize(50 * 1024 * 1024) // 50MB
.build();
@ -97,66 +94,12 @@ public class GrpcServiceManager {
/**
* 获取终端地址
*/
private InetSocketAddress getGrpcServiceEndpoint(String robotId) {
RobotEndpoint endpoint = robotEndpointResolver.resolve(robotId);
return createEndpoint(endpoint.host(), (long) endpoint.port(), "机器人 " + robotId);
}
/**
* 兼容原有 static://host:port 配置，但使用主机和端口直接创建通道。
*/
static InetSocketAddress parseGrpcAddress(String address) {
if (address == null || address.trim().isEmpty()) {
throw new IllegalArgumentException("gRPC 默认地址不能为空");
private String getGrpcServiceAddress(String terminalId) {
DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId);
if (ObjUtil.isEmpty(terminal)) {
return DEFAULT_GRPC_ADDRESS;
}
String endpoint = address.trim();
int schemeIndex = endpoint.indexOf("://");
if (schemeIndex >= 0) {
endpoint = endpoint.substring(schemeIndex + 3);
}
while (endpoint.startsWith("/")) {
endpoint = endpoint.substring(1);
}
String host;
String portText;
if (endpoint.startsWith("[")) {
int bracketEnd = endpoint.indexOf(']');
if (bracketEnd < 0 || bracketEnd + 1 >= endpoint.length() || endpoint.charAt(bracketEnd + 1) != ':') {
throw invalidGrpcAddress(address);
}
host = endpoint.substring(1, bracketEnd);
portText = endpoint.substring(bracketEnd + 2);
} else {
int portSeparator = endpoint.lastIndexOf(':');
if (portSeparator <= 0 || portSeparator == endpoint.length() - 1) {
throw invalidGrpcAddress(address);
}
host = endpoint.substring(0, portSeparator);
portText = endpoint.substring(portSeparator + 1);
}
try {
return createEndpoint(host, Long.parseLong(portText), "默认配置");
} catch (NumberFormatException exception) {
throw invalidGrpcAddress(address);
}
}
private static InetSocketAddress createEndpoint(String host, Long port, String source) {
String normalizedHost = host == null ? "" : host.trim();
if (normalizedHost.isEmpty()) {
throw new IllegalArgumentException(source + " 的 gRPC 主机不能为空");
}
if (port == null || port <= 0 || port > 65535) {
throw new IllegalArgumentException(source + " 的 gRPC 端口无效: " + port);
}
return InetSocketAddress.createUnresolved(normalizedHost, port.intValue());
}
private static IllegalArgumentException invalidGrpcAddress(String address) {
return new IllegalArgumentException("gRPC 默认地址格式无效: " + address + "，应为 static://host:port 或 host:port");
return StrUtil.format("static://{}:{}", terminal.getHost(), terminal.getPort());
}
/**
@ -168,8 +111,8 @@ public class GrpcServiceManager {
}
/** QUIC发现终端地址变化后，使指定终端的旧gRPC通道立即失效。 */
public void invalidateRobot(String robotId) {
grpcChannelCache.invalidate(robotId);
public void invalidateTerminal(String terminalId) {
grpcChannelCache.invalidate(terminalId);
}
/**

6
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/EdgeCommonVO.java
View File

@ -10,9 +10,9 @@ import jakarta.validation.constraints.NotEmpty;
@ApiModel("边缘系统通用VO")
public class EdgeCommonVO {
@ApiModelProperty("机器人ID")
@NotEmpty(message = "机器人ID不能为空")
private String robotId;
@ApiModelProperty("终端ID")
@NotEmpty(message = "终端ID不能为空")
private String terminalId;
@ApiModelProperty("设备ID")
@NotEmpty(message = "设备ID不能为空")

9
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopHeartbeatVO.java
View File

@ -1,9 +0,0 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
@Data
public class EdgeArmTeleopHeartbeatVO {
private String sessionId;
private long sequence;
}

26
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java
View File

@ -1,26 +0,0 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
import java.util.List;
@Data
public class EdgeArmTeleopOpenVO {
private String robotId;
private Integer protocolMajor;
private Integer protocolMinor;
private String clientInstanceId;
private String modelSha256;
private String calibrationSha256;
private List<String> jointNames;
private String positionUnit;
private String velocityUnit;
private String effortUnit;
private String baseFrame;
private String toolFrame;
private Integer commandRateHz;
private Integer stateRateHz;
private Integer watchdogTimeoutMs;
private Integer leaseMs;
private boolean forceFeedback;
}

12
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopSetpointVO.java
View File

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

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopStopVO.java
View File

@ -1,10 +0,0 @@
package com.cmvr.edge.client.model.armteleop;
import lombok.Data;
@Data
public class EdgeArmTeleopStopVO {
private String sessionId;
private String reason;
private String detail;
}

22
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/camera/EdgeCameraPtzVO.java
View File

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

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicOpenVO.java
View File

@ -1,10 +0,0 @@
package com.cmvr.edge.client.model.motor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
public class EdgeMotorCyclicOpenVO extends EdgeMotorTargetVO {
private Integer watchdogTimeoutMs;
}

13
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicSetpointVO.java
View File

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

10
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorEnabledVO.java
View File

@ -1,10 +0,0 @@
package com.cmvr.edge.client.model.motor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@Data
@EqualsAndHashCode(callSuper = true)
public class EdgeMotorEnabledVO extends EdgeMotorTargetVO {
private boolean enabled;
}

18
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorMotionVO.java
View File

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

19
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorTargetVO.java
View File

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

16
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemJsonCommandVO.java
View File

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

31
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemUpdateParamsVO.java
View File

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

224
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java Normal file
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@ -0,0 +1,224 @@
package com.cmvr.edge.client.quic;
import com.cmvr.device.domain.DeDeviceTerminalConfig;
import com.cmvr.device.service.IDeDeviceTerminalConfigService;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.quic.contract.QuicEventBus;
import com.cmvr.quic.gateway.v1.NodeEvent;
import com.cmvr.quic.gateway.v1.NodeEventType;
import com.cmvr.quic.gateway.v1.NodeSnapshot;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.PreDestroy;
import lombok.RequiredArgsConstructor;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import java.util.Date;
import java.util.Map;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.RejectedExecutionException;
import java.util.concurrent.ThreadFactory;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicBoolean;
/** 直接订阅进程内 QUIC 节点事件，并同步已绑定终端的运行状态和 gRPC 地址。 */
@Service
@RequiredArgsConstructor
public class QuicGatewayNodeSyncService {
private static final Logger log = LoggerFactory.getLogger(QuicGatewayNodeSyncService.class);
private static final long HEARTBEAT_PERSIST_INTERVAL_MS = 15000L;
private final IDeDeviceTerminalConfigService terminalConfigService;
private final GrpcServiceManager grpcServiceManager;
private final QuicEventBus quicEventBus;
@Value("${cmvr.quic.enabled:false}")
private boolean enabled;
/** observed-source 使用 QUIC 来源 IP；advertised 使用节点主动上报的 gRPC host。 */
@Value("${cmvr.quic.grpc-host-source:observed-source}")
private String grpcHostSource;
private final AtomicBoolean stopping = new AtomicBoolean(false);
private final AtomicBoolean grpcHostSourceWarningLogged = new AtomicBoolean(false);
private final Set<String> unknownNodes = ConcurrentHashMap.newKeySet();
private final Set<String> grpcAddressMismatchNodes = ConcurrentHashMap.newKeySet();
private final ConcurrentHashMap<String, Long> lastPersistedAt = new ConcurrentHashMap<String, Long>();
private final ConcurrentHashMap<String, String> synchronizedTerminals =
new ConcurrentHashMap<String, String>();
private ExecutorService eventExecutor;
private QuicEventBus.Subscription subscription;
@PostConstruct
public void start() {
if (!enabled) {
log.info("QUIC 节点状态同步未启用");
return;
}
eventExecutor = Executors.newSingleThreadExecutor(new ThreadFactory() {
@Override
public Thread newThread(Runnable runnable) {
Thread thread = new Thread(runnable, "quic-node-sync");
thread.setDaemon(true);
return thread;
}
});
subscription = quicEventBus.watchNodes(true, this::enqueueEvent);
log.info("已通过进程内事件总线订阅 QUIC 节点事件");
}
private void enqueueEvent(final NodeEvent event) {
ExecutorService executor = eventExecutor;
if (stopping.get() || executor == null) {
return;
}
try {
executor.execute(new Runnable() {
@Override
public void run() {
handleEventSafely(event);
}
});
} catch (RejectedExecutionException ignored) {
if (!stopping.get()) {
log.warn("QUIC 节点事件线程已停止，忽略事件，nodeId={}", event.getNode().getNodeId());
}
}
}
private void handleEventSafely(NodeEvent event) {
try {
syncNode(event);
} catch (RuntimeException error) {
log.error("同步 QUIC 终端状态失败，nodeId={}，eventType={}",
event.getNode().getNodeId(), event.getType(), error);
}
}
private void syncNode(NodeEvent event) {
NodeSnapshot node = event.getNode();
if (node.getNodeId().isEmpty()) {
return;
}
DeDeviceTerminalConfig terminal = terminalConfigService.selectByQuicNodeId(node.getNodeId());
if (terminal == null) {
if (unknownNodes.add(node.getNodeId())) {
log.warn("QUIC 节点尚未绑定平台终端，忽略运行状态同步，nodeId={}，remoteIp={}",
node.getNodeId(), node.getObservedSourceIp());
}
return;
}
unknownNodes.remove(node.getNodeId());
boolean offline = event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || !node.getOnline();
if (offline) {
synchronizedTerminals.remove(node.getNodeId());
} else {
synchronizedTerminals.put(node.getNodeId(), terminal.getId());
}
String grpcHost = offline ? null : resolveGrpcHost(node);
Long grpcPort = offline || node.getGrpcEndpoint().getPort() == 0
? null : Long.valueOf(node.getGrpcEndpoint().getPort());
boolean endpointChanged = !offline && grpcHost != null && grpcPort != null
&& (!grpcHost.equals(terminal.getHost()) || !grpcPort.equals(terminal.getPort()));
long now = System.currentTimeMillis();
Long previousPersisted = lastPersistedAt.get(node.getNodeId());
boolean immediate = event.getType() == NodeEventType.NODE_EVENT_TYPE_REGISTERED
|| event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || endpointChanged;
if (!immediate && previousPersisted != null
&& now - previousPersisted.longValue() < HEARTBEAT_PERSIST_INTERVAL_MS) {
return;
}
terminalConfigService.updateQuicRuntimeState(terminal.getId(), grpcHost, grpcPort,
node.getObservedSourceIp(), node.getSessionId(), node.getBootId(),
node.getSoftwareVersion(), offline ? "0" : "1",
new Date(event.getEventTimeUnixMs() == 0 ? now : event.getEventTimeUnixMs()));
lastPersistedAt.put(node.getNodeId(), now);
if (offline) {
lastPersistedAt.remove(node.getNodeId());
}
if (endpointChanged || offline) {
grpcServiceManager.invalidateTerminal(terminal.getId());
}
log.info("QUIC 终端状态已同步，terminalId={}，nodeId={}，online={}，grpc={}:{}",
terminal.getId(), node.getNodeId(), !offline,
grpcHost == null ? terminal.getHost() : grpcHost,
grpcPort == null ? terminal.getPort() : grpcPort);
}
private String resolveGrpcHost(NodeSnapshot node) {
String advertisedHost = emptyToNull(node.getGrpcEndpoint().getHost());
if ("advertised".equalsIgnoreCase(grpcHostSource)) {
return advertisedHost;
}
if (!"observed-source".equalsIgnoreCase(grpcHostSource)
&& grpcHostSourceWarningLogged.compareAndSet(false, true)) {
log.warn("未知的 QUIC gRPC 地址来源配置，按 observed-source 处理，value={}", grpcHostSource);
}
String observedHost = emptyToNull(node.getObservedSourceIp());
if (observedHost == null) {
log.warn("QUIC 节点缺少来源 IP，回退到节点上报地址，nodeId={}，advertisedHost={}",
node.getNodeId(), advertisedHost);
return advertisedHost;
}
if (advertisedHost != null && !observedHost.equals(advertisedHost)
&& grpcAddressMismatchNodes.add(node.getNodeId())) {
log.info("QUIC 节点上报的 gRPC 地址与来源 IP 不同，使用来源 IP，nodeId={}，"
+ "observedHost={}，advertisedHost={}",
node.getNodeId(), observedHost, advertisedHost);
} else if (observedHost.equals(advertisedHost)) {
grpcAddressMismatchNodes.remove(node.getNodeId());
}
return observedHost;
}
private void markSynchronizedTerminalsOffline() {
for (Map.Entry<String, String> entry : synchronizedTerminals.entrySet()) {
try {
terminalConfigService.updateQuicRuntimeState(entry.getValue(), null, null,
null, null, null, null, "0", new Date());
grpcServiceManager.invalidateTerminal(entry.getValue());
} catch (RuntimeException error) {
log.error("标记 QUIC 终端离线失败，nodeId={}，terminalId={}",
entry.getKey(), entry.getValue(), error);
}
}
synchronizedTerminals.clear();
lastPersistedAt.clear();
}
private static String emptyToNull(String value) {
return value == null || value.trim().isEmpty() ? null : value.trim();
}
@PreDestroy
public void stop() {
if (!stopping.compareAndSet(false, true)) {
return;
}
QuicEventBus.Subscription currentSubscription = subscription;
if (currentSubscription != null) {
currentSubscription.close();
}
ExecutorService executor = eventExecutor;
if (executor != null) {
executor.shutdown();
try {
if (!executor.awaitTermination(5, TimeUnit.SECONDS)) {
executor.shutdownNow();
}
} catch (InterruptedException interrupted) {
executor.shutdownNow();
Thread.currentThread().interrupt();
}
}
markSynchronizedTerminalsOffline();
}
}

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

@ -176,7 +176,7 @@ public class AudioService implements RobotAudioStreamListener {
}
private void handleJoin(WebSocketSession webSocketSession, JsonNode jsonNode) {
String robotId = getText(jsonNode, "robotId");
String terminalId = getText(jsonNode, "terminalId");
String deviceId = getText(jsonNode, "deviceId");
String speakerDeviceId = getText(jsonNode, "speakerDeviceId");
String micDeviceId = getText(jsonNode, "micDeviceId");
@ -190,8 +190,8 @@ public class AudioService implements RobotAudioStreamListener {
micDeviceId = deviceId;
}
if (robotId == null || speakerDeviceId == null || micDeviceId == null) {
sendError(webSocketSession, sessionId, "robotId、speakerDeviceId、micDeviceId不能为空");
if (terminalId == null || speakerDeviceId == null || micDeviceId == null) {
sendError(webSocketSession, sessionId, "terminalId、speakerDeviceId、micDeviceId不能为空");
return;
}
if (deviceId == null) {
@ -213,7 +213,7 @@ public class AudioService implements RobotAudioStreamListener {
AudioSession session = new AudioSession();
session.sessionId = sessionId;
session.robotId = robotId;
session.terminalId = terminalId;
session.deviceId = deviceId;
session.speakerDeviceId = speakerDeviceId;
session.micDeviceId = micDeviceId;
@ -228,7 +228,7 @@ public class AudioService implements RobotAudioStreamListener {
sessionMap.put(sessionId, session);
webSocketSessionMap.put(webSocketSession.getId(), sessionId);
try {
session.robotStream = robotAudioGrpcAdapter.openStream(robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, this);
session.robotStream = robotAudioGrpcAdapter.openStream(terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, this);
} catch (Exception e) {
sessionMap.remove(sessionId);
webSocketSessionMap.remove(webSocketSession.getId());
@ -236,7 +236,7 @@ public class AudioService implements RobotAudioStreamListener {
throw e;
}
sendState(session, "joined");
log.info("实时语音会话创建成功，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId);
log.info("实时语音会话创建成功，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
} catch (Exception e) {
log.error("创建实时语音会话失败，sessionId={}", sessionId, e);
sendError(webSocketSession, sessionId, "创建实时语音会话失败：" + e.getMessage());
@ -347,8 +347,8 @@ public class AudioService implements RobotAudioStreamListener {
continue;
}
if (now - session.lastRobotHeartbeatAt > ROBOT_HEARTBEAT_TIMEOUT_MS) {
log.warn("机器人心跳超时，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
session.sessionId, session.robotId, session.speakerDeviceId, session.micDeviceId);
log.warn("机器人心跳超时，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
session.sessionId, session.terminalId, session.speakerDeviceId, session.micDeviceId);
// 先从业务会话表摘除，避免 cancel/close 触发的异步回调再次进入同一个会话并重复关闭 native 对象。
iterator.remove();
session.state = AudioSessionState.ROBOT_OFFLINE;
@ -466,7 +466,7 @@ public class AudioService implements RobotAudioStreamListener {
private void sendState(AudioSession session, String type) {
ObjectNode event = baseMessage(type, session.sessionId);
event.put("robotId", session.robotId);
event.put("terminalId", session.terminalId);
event.put("deviceId", session.deviceId);
event.put("speakerDeviceId", session.speakerDeviceId);
event.put("micDeviceId", session.micDeviceId);
@ -705,7 +705,7 @@ public class AudioService implements RobotAudioStreamListener {
*/
private static class AudioSession {
private String sessionId;
private String robotId;
private String terminalId;
private String deviceId;
private String speakerDeviceId;
private String micDeviceId;

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

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

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java
View File

@ -33,7 +33,7 @@ public interface EdgeArmService {
/**
* 清除机械臂故障状态。
*
* @param edgeCommonVO 边缘设备通用参数，包含 robotId 和 deviceId
* @param edgeCommonVO 边缘设备通用参数，包含 terminalId 和 deviceId
* @return 机器人终端返回的通用反馈
*/
Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO);

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

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java
View File

@ -37,6 +37,6 @@ public interface EdgeBioHeadService {
/**
* 表情
*/
public String specialExpression(String robotId,String deviceId,Integer expressKey);
public String specialExpression(String terminalId,String deviceId,Integer expressKey);
}

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

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

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

@ -8,12 +8,12 @@ import io.grpc.stub.StreamObserver;
*/
public interface EdgeDexHandService {
// 基本控制
DexhandCommand.DexHandState getStatus(String robotId, String deviceId);
void setDexHandPos(String robotId, String deviceId);
void setDexHandAngle(String robotId, String deviceId, int id, float value) ;
void setDexHandForce(String robotId, String deviceId) ;
void setDexHandSpeed(String robotId, String deviceId) ;
void setDexHandPresetAct(String robotId, String deviceId);
String getSensorData(String robotId, String deviceId) ;
StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String robotId, String deviceId) ;
DexhandCommand.DexHandState getStatus(String terminalId, String deviceId);
void setDexHandPos(String terminalId, String deviceId);
void setDexHandAngle(String terminalId, String deviceId, int id, float value) ;
void setDexHandForce(String terminalId, String deviceId) ;
void setDexHandSpeed(String terminalId, String deviceId) ;
void setDexHandPresetAct(String terminalId, String deviceId);
String getSensorData(String terminalId, String deviceId) ;
StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String terminalId, String deviceId) ;
}

2
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHlcService.java
View File

@ -9,7 +9,7 @@ public interface EdgeHlcService {
/**
* 触控
*/
public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce);
public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce);
/**
* 图片标注

36
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMotorService.java
View File

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

28
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSpeakerService.java
View File

@ -14,75 +14,75 @@ public interface EdgeSpeakerService {
* 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
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @return SpeakerState 返回扬声器的当前状态
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId);
SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String terminalId, String deviceId);
/**
* 播放音频文件
* 通过gRPC调用播放指定路径的音频文件
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @param audioPath 音频文件的路径
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
String playAudio(String robotId, String deviceId, String audioPath);
String playAudio(String terminalId, String deviceId, String audioPath);
/**
* 停止当前播放
* 通过gRPC调用停止扬声器的当前播放
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
void stopPlayback(String robotId, String deviceId);
void stopPlayback(String terminalId, String deviceId);
/**
* 暂停当前播放
* 通过gRPC调用暂停扬声器的当前播放
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
void pausePlayback(String robotId, String deviceId);
void pausePlayback(String terminalId, String deviceId);
/**
* 恢复暂停的播放
* 通过gRPC调用恢复扬声器之前暂停的播放
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
void resumePlayback(String robotId, String deviceId);
void resumePlayback(String terminalId, String deviceId);
/**
* 设置扬声器音量
* 通过gRPC调用设置扬声器的音量大小
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @param volume 音量大小（0-100）
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
void setVolume(String robotId, String deviceId, int volume);
void setVolume(String terminalId, String deviceId, int volume);
/**
* 获取当前音量
* 通过gRPC调用获取扬声器的当前音量大小
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @return int 返回当前音量大小（0-100）
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
int getVolume(String robotId, String deviceId);
int getVolume(String terminalId, String deviceId);
/**
* 获取所有音频文件

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

@ -1,10 +1,8 @@
package com.cmvr.edge.client.service;
import cmvr.api.Common;
import cmvr.api.SystemCommand;
import com.cmvr.device.domain.DeDeviceRegistration;
import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
import com.cmvr.device.domain.vo.Device;
import java.util.List;
@ -12,20 +10,14 @@ import java.util.List;
* 边缘系统服务接口
*/
public interface EdgeSystemService {
SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String robotId);
/**
* 获取系统状态
* @return 系统状态信息，包含CPU使用率、内存使用情况、磁盘使用情况和设备列表
*/
SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId);
Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request);
Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId);
public List<DeDeviceRegistration> deviceList(String robotId);
public List<DeDeviceRegistration> deviceList(String terminalId);
public String stopAll(String robotId);
}
public String stopAll(String terminalId);
}

56
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
View File

@ -3,7 +3,7 @@ package com.cmvr.edge.client.service.impl;
import cmvr.api.AgvCommand;
import cmvr.api.AgvServiceGrpc;
import cmvr.api.Common;
import cmvr.msgs.AgvUtils;
import cmvr.msgs.Agv;
import cn.hutool.core.util.StrUtil;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.manage.GrpcServiceManager;
@ -30,9 +30,9 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
private final GrpcServiceManager grpcServiceManager;
@Override
public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
public Agv.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -40,9 +40,9 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
public Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -52,7 +52,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void emergencyStop(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.emergencyStop(request));
}
@ -60,19 +60,19 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void clearFault(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.clearFault(request));
}
@Override
public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) {
if (pose == null) {
throw new GlobalException("目标位姿不能为空");
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvNavigateToPoseCommand.Request request = AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setPose(pose)
@ -87,7 +87,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvNavigateToStationCommand.Request request = AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setStationId(stationId)
@ -96,13 +96,13 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments) {
public void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments) {
if (pathSegments == null || pathSegments.isEmpty()) {
throw new GlobalException("路径段不能为空");
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvFollowPathCommand.Request request = AgvCommand.AgvFollowPathCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.addAllPath(pathSegments)
@ -113,7 +113,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void pauseNavigation(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.pauseNavigation(request));
}
@ -121,7 +121,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void resumeNavigation(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.resumeNavigation(request));
}
@ -129,19 +129,19 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void cancelNavigation(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.cancelNavigation(request));
}
@Override
public void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity) {
public void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity) {
if (velocity == null) {
throw new GlobalException("速度不能为空");
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvSetVelocityCommand.Request request = AgvCommand.AgvSetVelocityCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setVelocity(velocity)
@ -152,7 +152,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void stopVelocityControl(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.stopVelocityControl(request));
}
@ -160,7 +160,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public List<String> listMaps(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvListMapsCommand.Request request = AgvCommand.AgvListMapsCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -168,9 +168,9 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
public List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -184,7 +184,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setMapName(mapName)
@ -202,7 +202,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setMapName(mapName)
@ -218,7 +218,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setMapName(mapName)
@ -227,12 +227,12 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
}
@Override
public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) {
public String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
.setDimension(dimension != null ? dimension : Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
.setRealTime(realTime);
if (StrUtil.isNotBlank(mapName)) {
@ -246,7 +246,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
@Override
public void stopMapping(EdgeCommonVO edgeCommonVO) {
AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
executeGrpcCall(() -> stub.stopMapping(request));
}

28
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java
View File

@ -31,7 +31,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
return executeGrpcCall(() -> stub.torqueOff(request));
}
@ -39,7 +39,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
return executeGrpcCall(() -> stub.torqueOn(request));
}
@ -47,7 +47,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
return executeGrpcCall(() -> stub.clearFault(request));
}
@ -61,7 +61,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
}
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
// 构建关节位置命令
ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder()
@ -104,7 +104,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
double rx, double ry, double rz, String frame,
Double velocity, Double acceleration, Double blendRadius) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
// 构建笛卡尔位姿
ArmCommand.CartesianPose targetPose = ArmCommand.CartesianPose.newBuilder()
@ -149,7 +149,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
}
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
// 构建关节速度命令
ArmCommand.JointVelocityCommand velocityCommand = ArmCommand.JointVelocityCommand.newBuilder()
@ -177,7 +177,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
double wx, double wy, double wz, String frame,
Double acceleration, Double duration) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
// 构建笛卡尔速度
ArmCommand.CartesianVelocity velocity = ArmCommand.CartesianVelocity.newBuilder()
@ -214,7 +214,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
}
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
// 构建关节位置命令
ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder()
@ -234,7 +234,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
return executeGrpcCall(() -> stub.stopMotion(request));
}
@ -242,7 +242,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
ArmCommand.JointRequest request = ArmCommand.JointRequest.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -252,7 +252,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
ArmCommand.GetPose.Request.Builder requestBuilder = ArmCommand.GetPose.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
@ -270,7 +270,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
ArmCommand.CalibrateZeroQ.Request.Builder requestBuilder = ArmCommand.CalibrateZeroQ.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
@ -285,7 +285,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
@Override
public ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) {
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
ArmCommand.GetPoseMatrix.Request.Builder requestBuilder = ArmCommand.GetPoseMatrix.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
@ -310,7 +310,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
}
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
// 构建关节位置命令
ArmCommand.JointPositionCommand jointsCommand = ArmCommand.JointPositionCommand.newBuilder()

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

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

24
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java
View File

@ -23,9 +23,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
@Override
public String setExpression(EdgeFacialExpressionVO facialExpressionVo) {
String robotId = facialExpressionVo.getRobotId();
String terminalId = facialExpressionVo.getTerminalId();
String deviceId = facialExpressionVo.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@ -110,9 +110,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
@Override
public String getSystemStatus(EdgeCommonVO edgeCommonVO) {
String robotId = edgeCommonVO.getRobotId();
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@ -126,9 +126,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
@Override
public String emergencyStop(EdgeCommonVO edgeCommonVO) {
String robotId = edgeCommonVO.getRobotId();
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@ -142,9 +142,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
@Override
public String speakStart(EdgeCommonVO edgeCommonVO) {
String robotId = edgeCommonVO.getRobotId();
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@ -155,9 +155,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
@Override
public String speakStop(EdgeCommonVO edgeCommonVO) {
String robotId = edgeCommonVO.getRobotId();
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
// 请求头
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@ -167,8 +167,8 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
}
@Override
public String specialExpression(String robotId, String deviceId, Integer expressKey) {
BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
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);

372
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java
View File

@ -10,17 +10,14 @@ import com.cmvr.common.enums.FileType;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.file.ByteArrayMultipartFile;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.manage.GrpcStreamManager;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
import com.cmvr.edge.client.service.EdgeCameraService;
import com.cmvr.edge.client.service.EdgeStreamService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import com.cmvr.edge.client.utils.H265Fmp4Transcoder;
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 io.grpc.Status;
import io.grpc.stub.StreamObserver;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@ -46,17 +43,12 @@ import java.io.ByteArrayOutputStream;
import java.io.DataOutputStream;
import java.io.File;
import java.io.IOException;
import java.io.OutputStream;
import java.nio.file.Files;
import java.nio.file.Paths;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.ArrayList;
import java.util.Base64;
import java.util.Iterator;
import java.util.concurrent.CountDownLatch;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicReference;
import java.util.List;
@Slf4j
@ -71,7 +63,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
@Override
public CameraCommand.CameraState status(EdgeCommonVO edgeCommonVO) {
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.GetCameraStateCommand.Request request = CameraCommand.GetCameraStateCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -89,7 +81,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
@Override
public String start(EdgeCommonVO edgeCommonVO) {
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.StartCameraCommand.Request request = CameraCommand.StartCameraCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -99,7 +91,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
@Override
public String stop(EdgeCommonVO edgeCommonVO) {
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.StopCameraCommand.Request request = CameraCommand.StopCameraCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -113,7 +105,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
if (!checkStatus(edgeCommonVO)) {
start(edgeCommonVO);
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.GetRGBImageCommand.Request request = CameraCommand.GetRGBImageCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -131,32 +123,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
} finally {
deleteTempFile(filePath);
// todo 暂时不关闭摄像头
// stop(robotId, deviceId);
}
}
@Override
public String getDepthImage(EdgeCommonVO edgeCommonVO) {
if (!checkStatus(edgeCommonVO)) {
start(edgeCommonVO);
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.GetDepthImageCommand.Request request = CameraCommand.GetDepthImageCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
CameraCommand.GetDepthImageCommand.Feedback feedback = executeGrpcCall(() -> stub.getDepthImage(request));
CameraCommand.FrameData frame = feedback.getDepthFrame();
if (!feedback.hasDepthFrame() || frame.getWidth() <= 0 || frame.getHeight() <= 0) {
throw new GlobalException("Depth image data is invalid");
}
String filePath = saveDepthImage(frame);
try {
return sysFileService.uploadFile(convertFileToMultipartFile(filePath), FileType.IMAGE.code());
} catch (IOException exception) {
throw new GlobalException("Depth image upload failed: " + exception.getMessage());
} finally {
deleteTempFile(filePath);
// stop(terminalId, deviceId);
}
}
@ -165,7 +132,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
if (!checkStatus(edgeCommonVO)) {
start(edgeCommonVO);
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
String videoPath = StrUtil.format("{}/{}_{}.mp4", "/home/share/assets/video", edgeCommonVO.getDeviceId(), System.currentTimeMillis());
CameraCommand.StartCameraRecordingCommand.Request request = CameraCommand.StartCameraRecordingCommand.Request.newBuilder()
@ -178,7 +145,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
@Override
public String stopRecording(EdgeCommonVO edgeCommonVO) {
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.StopCameraRecordingCommand.Request request = CameraCommand.StopCameraRecordingCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -192,7 +159,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
start(edgeCommonVO);
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.GetRGBDImagesCommand.Request request = CameraCommand.GetRGBDImagesCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -221,256 +188,80 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
// deleteTempFile(filePath);
// deleteTempFile(deepFilePath);
// todo 暂时不关闭摄像头
// stop(robotId, deviceId);
// stop(terminalId, deviceId);
}
// return JSON.toJSONString(result);
}
@Override
public String controlPtz(EdgeCameraPtzVO ptzVO) {
CameraCommand.ControlPtzCommand.Command command;
CameraCommand.ControlPtzCommand.Action action;
try {
command = CameraCommand.ControlPtzCommand.Command.valueOf(ptzVO.getCommand().trim().toUpperCase());
action = CameraCommand.ControlPtzCommand.Action.valueOf(ptzVO.getAction().trim().toUpperCase());
} catch (RuntimeException exception) {
throw new GlobalException("Invalid PTZ command or action");
}
CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
ptzVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
CameraCommand.ControlPtzCommand.Request request = CameraCommand.ControlPtzCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(ptzVO.getDeviceId()))
.setCommand(command)
.setAction(action)
.setSpeed(ptzVO.getSpeed() == null ? 0 : ptzVO.getSpeed())
.build();
return JSON.toJSONString(executeGrpcCall(() -> stub.controlPtz(request)).getHeader());
}
// 缓冲区和收集状态
private final List<byte[]> framesBuffer = new ArrayList<>();
private boolean isCollectingFrames = false;
@Override
public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(EdgeCommonVO edgeCommonVO) {
return getRGBImageStream(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
}
@Override
public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String robotId, String deviceId) {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setRobotId(robotId);
edgeCommonVO.setDeviceId(deviceId);
CameraCommand.CameraState cameraState = status(edgeCommonVO);
if (cameraState.getIsError()) {
throw new GlobalException("Camera is in error state");
}
if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) {
if (!checkStatus(edgeCommonVO)) {
start(edgeCommonVO);
cameraState = status(edgeCommonVO);
}
int frameRate = cameraState.getFps();
String channel = "edgeCameraServiceImpl/getRGBImageStream/" + robotId + "/" + deviceId;
String streamKey = robotId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream";
AtomicInteger sequence = new AtomicInteger();
AtomicBoolean firstMediaChunk = new AtomicBoolean(true);
AtomicReference<StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>> requestObserverRef = new AtomicReference<>();
H265Fmp4Transcoder transcoder;
try {
transcoder = new H265Fmp4Transcoder(
robotId + "-" + deviceId,
frameRate,
chunk -> {
int currentSequence = sequence.incrementAndGet();
if (firstMediaChunk.compareAndSet(true, false)) {
log.info("摄像头流已输出首个fMP4片段, robotId: {}, deviceId: {}, bytes: {}",
robotId, deviceId, chunk.length);
}
messagePushService.pushH264Fmp4ToChannel(channel, chunk, currentSequence);
},
throwable -> {
log.error("摄像头媒体转码失败, robotId: {}, deviceId: {}", robotId, deviceId, throwable);
messagePushService.pushToChannel(channel, "500");
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> observer = requestObserverRef.get();
if (observer != null) {
observer.onError(Status.INTERNAL.withDescription("媒体转码失败").withCause(throwable).asRuntimeException());
}
}
);
transcoder.start();
} catch (IOException exception) {
throw new GlobalException("摄像头媒体转码器初始化失败: " + exception.getMessage());
}
CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(robotId, CameraServiceGrpc.CameraServiceStub.class);
String terminalId = edgeCommonVO.getTerminalId();
String deviceId = edgeCommonVO.getDeviceId();
CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceStub.class);
// 创建StreamObserver来处理响应
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver = new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
@Override
public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
try {
CameraCommand.FrameData frame = value.getColorFrame();
transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
} catch (IOException exception) {
log.error("写入摄像头媒体流失败, robotId: {}, deviceId: {}", robotId, deviceId, exception);
transcoder.close();
messagePushService.pushToChannel(channel, "500");
CameraCommand.FrameData frame = value.getColorFrame();
byte[] frameData = frame.getData().toByteArray();
if (frame.getIsKeyFrame()) { // I帧
if (isCollectingFrames) {
// 处理之前的缓冲区数据
String videoBase64 = H265DecoderUtil.convertH265FramesToVideo(framesBuffer);
if (videoBase64 != null) {
messagePushService.pushToChannel(
"edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId,
videoBase64
);
}
// 重置缓冲区
framesBuffer.clear();
}
// 开始新收集段
framesBuffer.add(frameData);
isCollectingFrames = true;
} else {
// 非I帧且正在收集时加入缓冲区
if (isCollectingFrames) {
framesBuffer.add(frameData);
}
}
}
@Override
public void onError(Throwable t) {
transcoder.close();
GrpcStreamManager.removeStream(streamKey);
Status status = Status.fromThrowable(t);
if (status.getCode() != Status.Code.CANCELLED) {
log.error("摄像头gRPC流异常, robotId: {}, deviceId: {}", robotId, deviceId, t);
messagePushService.pushToChannel(channel, "500");
}
// 记录详细的错误信息
log.error("Error occurred in getRGBImageStream for terminalId: {}, deviceId: {}. Error: {}", terminalId, deviceId, t.getMessage(), t);
// 推送错误信息
messagePushService.pushToChannel("edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId, "500");
}
@Override
public void onCompleted() {
transcoder.close();
GrpcStreamManager.removeStream(streamKey);
log.info("摄像头gRPC流结束, robotId: {}, deviceId: {}", robotId, deviceId);
// 流结束
System.out.println("Stream completed.");
}
};
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> grpcRequestObserver;
try {
grpcRequestObserver = stub.getRGBImageStream(responseObserver);
requestObserverRef.set(grpcRequestObserver);
} catch (RuntimeException exception) {
transcoder.close();
throw exception;
}
// 创建StreamObserver来发送请求
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver = stub.getRGBImageStream(responseObserver);
// 构建请求并发送
CameraCommand.GetRGBImageStreamCommand.Request request = CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.setEof(false)
.build();
grpcRequestObserver.onNext(request);
return new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>() {
@Override
public void onNext(CameraCommand.GetRGBImageStreamCommand.Request value) {
grpcRequestObserver.onNext(value);
}
requestObserver.onNext(request);
return requestObserver;
@Override
public void onError(Throwable throwable) {
transcoder.close();
grpcRequestObserver.onError(throwable);
}
@Override
public void onCompleted() {
transcoder.close();
grpcRequestObserver.onCompleted();
}
};
}
@Override
public void writeRGBVideoStream(String robotId, String deviceId, OutputStream outputStream) {
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setRobotId(robotId);
edgeCommonVO.setDeviceId(deviceId);
CameraCommand.CameraState cameraState = status(edgeCommonVO);
if (cameraState.getIsError()) {
throw new GlobalException("Camera is in error state");
}
if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) {
start(edgeCommonVO);
cameraState = status(edgeCommonVO);
}
CountDownLatch finished = new CountDownLatch(1);
AtomicBoolean streamFinished = new AtomicBoolean(false);
AtomicReference<StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>> requestObserverRef =
new AtomicReference<>();
Runnable finishStream = () -> {
if (streamFinished.compareAndSet(false, true)) {
finished.countDown();
}
};
H265Fmp4Transcoder transcoder;
try {
transcoder = new H265Fmp4Transcoder(
"http-" + robotId + "-" + deviceId,
cameraState.getFps(),
chunk -> {
try {
outputStream.write(chunk);
outputStream.flush();
} catch (IOException exception) {
throw new CameraStreamWriteException(exception);
}
},
throwable -> {
if (!(throwable instanceof CameraStreamWriteException)) {
log.error("HTTP camera media transcoding failed, robotId: {}, deviceId: {}",
robotId, deviceId, throwable);
}
finishStream.run();
}
);
transcoder.start();
} catch (IOException exception) {
throw new GlobalException("Failed to initialize camera video stream: " + exception.getMessage());
}
CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(
robotId, CameraServiceGrpc.CameraServiceStub.class);
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver =
new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
@Override
public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
CameraCommand.FrameData frame = value.getColorFrame();
try {
transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
} catch (IOException exception) {
log.error("Failed to write HTTP camera frame, robotId: {}, deviceId: {}, codec: {}",
robotId, deviceId, frame.getCodec(), exception);
finishStream.run();
}
}
@Override
public void onError(Throwable throwable) {
Status status = Status.fromThrowable(throwable);
if (status.getCode() != Status.Code.CANCELLED && !streamFinished.get()) {
log.warn("HTTP camera gRPC stream ended, robotId: {}, deviceId: {}, status: {}",
robotId, deviceId, status);
}
finishStream.run();
}
@Override
public void onCompleted() {
finishStream.run();
}
};
try {
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver =
stub.getRGBImageStream(responseObserver);
requestObserverRef.set(requestObserver);
requestObserver.onNext(CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.setEof(false)
.build());
finished.await();
} catch (InterruptedException exception) {
Thread.currentThread().interrupt();
} finally {
transcoder.close();
StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver =
requestObserverRef.getAndSet(null);
if (requestObserver != null) {
try {
requestObserver.onCompleted();
} catch (RuntimeException ignored) {
}
}
}
}
@Override
@ -656,57 +447,4 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
}
}
}
private String saveDepthImage(CameraCommand.FrameData frame) {
int pixelCount = frame.getWidth() * frame.getHeight();
byte[] source = frame.getData().toByteArray();
if (frame.getType() == CameraCommand.FrameData.FrameType.U8C1) {
if (source.length < pixelCount) {
throw new GlobalException("Depth image byte count is invalid");
}
return saveImage(ByteString.copyFrom(source, 0, pixelCount), frame.getWidth(), frame.getHeight(), true);
}
double[] values = new double[pixelCount];
ByteBuffer buffer = ByteBuffer.wrap(source).order(ByteOrder.LITTLE_ENDIAN);
if (frame.getType() == CameraCommand.FrameData.FrameType.F32C1) {
if (source.length < pixelCount * Float.BYTES) {
throw new GlobalException("F32 depth image byte count is invalid");
}
for (int i = 0; i < pixelCount; i++) values[i] = buffer.getFloat();
} else if (frame.getType() == CameraCommand.FrameData.FrameType.U16C1
|| frame.getType() == CameraCommand.FrameData.FrameType.F16C1) {
if (source.length < pixelCount * Short.BYTES) {
throw new GlobalException("16-bit depth image byte count is invalid");
}
for (int i = 0; i < pixelCount; i++) values[i] = Short.toUnsignedInt(buffer.getShort());
} else {
throw new GlobalException("Unsupported depth frame type: " + frame.getType());
}
double min = Double.POSITIVE_INFINITY;
double max = Double.NEGATIVE_INFINITY;
for (double value : values) {
if (Double.isFinite(value) && value > 0) {
min = Math.min(min, value);
max = Math.max(max, value);
}
}
byte[] grayscale = new byte[pixelCount];
if (Double.isFinite(min) && max > min) {
double scale = 255.0 / (max - min);
for (int i = 0; i < values.length; i++) {
double value = values[i];
grayscale[i] = !Double.isFinite(value) || value <= 0
? 0 : (byte) Math.max(0, Math.min(255, Math.round((value - min) * scale)));
}
}
return saveImage(ByteString.copyFrom(grayscale), frame.getWidth(), frame.getHeight(), true);
}
private static final class CameraStreamWriteException extends RuntimeException {
private CameraStreamWriteException(IOException cause) {
super(cause);
}
}
}

26
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeDexHandServiceImpl.java
View File

@ -24,8 +24,8 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
private final MessagePushService messagePushService;
@Override
public DexhandCommand.DexHandState getStatus(String robotId, String deviceId) {
DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
public DexhandCommand.DexHandState getStatus(String terminalId, String deviceId) {
DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
DexhandCommand.GetDexHandStateCommand.Request request = DexhandCommand.GetDexHandStateCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.build();
@ -33,13 +33,13 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
}
@Override
public void setDexHandPos(String robotId, String deviceId) {
public void setDexHandPos(String terminalId, String deviceId) {
}
@Override
public void setDexHandAngle(String robotId, String deviceId, int id, float value) {
DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
public void setDexHandAngle(String terminalId, String deviceId, int id, float value) {
DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
DexhandCommand.FreedomValue.Builder builder = DexhandCommand.FreedomValue.newBuilder();
builder.setId(id);
builder.setValue(value);
@ -51,23 +51,23 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
}
@Override
public void setDexHandForce(String robotId, String deviceId) {
public void setDexHandForce(String terminalId, String deviceId) {
}
@Override
public void setDexHandSpeed(String robotId, String deviceId) {
public void setDexHandSpeed(String terminalId, String deviceId) {
}
@Override
public void setDexHandPresetAct(String robotId, String deviceId) {
public void setDexHandPresetAct(String terminalId, String deviceId) {
}
@Override
public String getSensorData(String robotId, String deviceId) {
DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
public String getSensorData(String terminalId, String deviceId) {
DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
DexhandCommand.GetSensorDataCommand.Request request = DexhandCommand.GetSensorDataCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.build();
@ -76,14 +76,14 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
}
@Override
public StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String robotId, String deviceId) {
DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceStub.class);
public StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String terminalId, String deviceId) {
DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceStub.class);
StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Feedback> responseObserver = new StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Feedback>() {
@Override
public void onNext(DexhandCommand.GetSensorDataStreamCommand.Feedback value) {
// 例如，将传感器数据转换为JSON字符串
String playLoad = JSON.toJSONString(value.getSensorList());
messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + robotId + "/" + deviceId, playLoad);
messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + terminalId + "/" + deviceId, playLoad);
}
@Override

6
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHlcServiceImpl.java
View File

@ -26,8 +26,8 @@ public class EdgeHlcServiceImpl implements EdgeHlcService {
private final GrpcServiceManager grpcServiceManager;
@Override
public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce) {
HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, HlcServiceGrpc.HlcServiceBlockingStub.class);
public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce) {
HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, HlcServiceGrpc.HlcServiceBlockingStub.class);
HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.setU(x)
@ -89,7 +89,7 @@ public class EdgeHlcServiceImpl implements EdgeHlcService {
if (edgeTouchVO.getX() == edgeTouchVO.getY() && edgeTouchVO.getX() == 0) {
throw new GlobalException("触控坐标不能为0");
}
HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getRobotId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getTerminalId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeTouchVO.getDeviceId()))
.setU(edgeTouchVO.getX())

14
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java
View File

@ -41,7 +41,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
@Override
public String getStatus(EdgeCommonVO edgeCommonVO) {
try {
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicrophoneCommand.GetMicStateCommand.Request request = MicrophoneCommand.GetMicStateCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
.build();
@ -63,7 +63,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
String deviceId = edgeCommonVO.getDeviceId();
try {
// 获取gRPC客户端存根
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
String filePath = StrUtil.format("{}/{}_{}.wav", "/home/share/assets/video", deviceId, System.currentTimeMillis());
// 构建请求消息
@ -89,7 +89,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
public String stopRecord(EdgeCommonVO edgeCommonVO) {
try {
// 获取gRPC客户端存根
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
// 构建请求消息
MicrophoneCommand.StopMicRecordingCommand.Request request = MicrophoneCommand.StopMicRecordingCommand.Request.newBuilder()
@ -113,7 +113,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
public void pauseRecord(EdgeCommonVO edgeCommonVO) {
try {
// 获取gRPC客户端存根
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
// 构建请求消息
MicrophoneCommand.PauseMicRecordingCommand.Request request = MicrophoneCommand.PauseMicRecordingCommand.Request.newBuilder()
@ -136,7 +136,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
public void resumeRecord(EdgeCommonVO edgeCommonVO) {
try {
// 获取gRPC客户端存根
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
// 构建请求消息
MicrophoneCommand.ResumeMicRecordingCommand.Request request = MicrophoneCommand.ResumeMicRecordingCommand.Request.newBuilder()
@ -159,7 +159,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
public void setVolume(EdgeMicrophoneVolumeVO edgeMicrophoneVolumeVO) {
try {
// 获取gRPC客户端存根
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
// 构建请求消息
MicrophoneCommand.SetMicPhoneVolumeCommand.Request request = MicrophoneCommand.SetMicPhoneVolumeCommand.Request.newBuilder()
@ -183,7 +183,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
public int getVolume(EdgeCommonVO edgeCommonVO) {
try {
// 获取gRPC客户端存根
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
// 构建请求消息
MicrophoneCommand.GetMicPhoneVolumeCommand.Request request = MicrophoneCommand.GetMicPhoneVolumeCommand.Request.newBuilder()

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

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

42
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java
View File

@ -40,15 +40,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 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
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @return SpeakerState 返回扬声器的当前状态
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId) {
public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String terminalId, String deviceId) {
try {
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerCommand.GetSpeakerStateCommand.Request request = SpeakerCommand.GetSpeakerStateCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(deviceId))
.build();
@ -64,16 +64,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 播放音频文件
* 通过gRPC调用播放指定路径的音频文件
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @param audioPath 音频文件的路径
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public String playAudio(String robotId, String deviceId, String audioPath) {
public String playAudio(String terminalId, String deviceId, String audioPath) {
try {
// 获取gRPC客户端存根
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
// 构建请求消息
SpeakerCommand.PlayAudioCommand.Request request = SpeakerCommand.PlayAudioCommand.Request.newBuilder()
@ -97,15 +97,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 停止当前播放
* 通过gRPC调用停止扬声器的当前播放
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public void stopPlayback(String robotId, String deviceId) {
public void stopPlayback(String terminalId, String deviceId) {
try {
// 获取gRPC客户端存根
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
// 构建请求消息
SpeakerCommand.StopSpeakerCommand.Request request = SpeakerCommand.StopSpeakerCommand.Request.newBuilder()
@ -124,15 +124,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 暂停当前播放
* 通过gRPC调用暂停扬声器的当前播放
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public void pausePlayback(String robotId, String deviceId) {
public void pausePlayback(String terminalId, String deviceId) {
try {
// 获取gRPC客户端存根
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
// 构建请求消息
SpeakerCommand.PauseSpeakerCommand.Request request = SpeakerCommand.PauseSpeakerCommand.Request.newBuilder()
@ -151,15 +151,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 恢复暂停的播放
* 通过gRPC调用恢复扬声器之前暂停的播放
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public void resumePlayback(String robotId, String deviceId) {
public void resumePlayback(String terminalId, String deviceId) {
try {
// 获取gRPC客户端存根
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
// 构建请求消息
SpeakerCommand.ResumeSpeakerCommand.Request request = SpeakerCommand.ResumeSpeakerCommand.Request.newBuilder()
@ -178,16 +178,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 设置扬声器音量
* 通过gRPC调用设置扬声器的音量大小
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @param volume 音量大小（0-100）
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public void setVolume(String robotId, String deviceId, int volume) {
public void setVolume(String terminalId, String deviceId, int volume) {
try {
// 获取gRPC客户端存根
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
// 构建请求消息
SpeakerCommand.SetSpeakerVolumeCommand.Request request = SpeakerCommand.SetSpeakerVolumeCommand.Request.newBuilder()
@ -207,16 +207,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
* 获取当前音量
* 通过gRPC调用获取扬声器的当前音量大小
*
* @param robotId 机器人永久唯一ID
* @param terminalId 终端设备ID
* @param deviceId 设备ID
* @return int 返回当前音量大小（0-100）
* @throws RuntimeException 当gRPC调用失败时抛出异常
*/
@Override
public int getVolume(String robotId, String deviceId) {
public int getVolume(String terminalId, String deviceId) {
try {
// 获取gRPC客户端存根
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
// 构建请求消息
SpeakerCommand.GetSpeakerVolumeCommand.Request request = SpeakerCommand.GetSpeakerVolumeCommand.Request.newBuilder()

174
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java
View File

@ -1,25 +1,18 @@
package com.cmvr.edge.client.service.impl;
import cmvr.api.Common;
import cmvr.api.ArmServiceGrpc;
import cmvr.api.SystemCommand;
import cmvr.api.SystemServiceGrpc;
import com.alibaba.fastjson2.JSON;
import com.cmvr.device.domain.DeDeviceRegistration;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
import com.cmvr.edge.client.service.EdgeSystemService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import com.cmvr.common.exception.GlobalException;
import com.google.protobuf.ByteString;
import lombok.RequiredArgsConstructor;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.Base64;
import java.util.List;
/**
@ -36,146 +29,55 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
private final GrpcServiceManager grpcServiceManager;
@Override
public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String robotId) {
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
robotId, SystemServiceGrpc.SystemServiceBlockingStub.class);
return stub.getSystemInfo(SystemCommand.GetSystemInfoCommand.Request.newBuilder().build());
}
@Override
public Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request) {
SystemCommand.UpdateParamsCommand.Request.Builder requestBuilder =
SystemCommand.UpdateParamsCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()));
if (request.getParams() != null) {
for (EdgeSystemUpdateParamsVO.Param param : request.getParams()) {
requestBuilder.addParams(buildParam(param));
}
}
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
request.getRobotId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
return stub.updateParams(requestBuilder.build()).getHeader();
}
public List<DeDeviceRegistration> deviceList(String terminalId){
@Override
public Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request) {
Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()))
.setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson())
.build();
ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
request.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
return stub.executeJsonCommand(grpcRequest);
}
private Common.ConfigParam buildParam(EdgeSystemUpdateParamsVO.Param param) {
if (param == null || param.getName() == null || param.getName().trim().isEmpty()) {
throw new GlobalException("Parameter name cannot be empty");
}
Common.ConfigParam.Builder builder = Common.ConfigParam.newBuilder().setParamName(param.getName());
int valueCount = 0;
if (param.getIntValue() != null) {
builder.setIntValue(param.getIntValue());
valueCount++;
}
if (param.getDoubleValue() != null) {
builder.setDoubleValue(param.getDoubleValue());
valueCount++;
}
if (param.getStringValue() != null) {
builder.setStringValue(param.getStringValue());
valueCount++;
}
if (param.getBoolValue() != null) {
builder.setBoolValue(param.getBoolValue());
valueCount++;
}
if (param.getBytesBase64() != null) {
try {
builder.setBytesValue(ByteString.copyFrom(Base64.getDecoder().decode(param.getBytesBase64())));
} catch (IllegalArgumentException exception) {
throw new GlobalException("Invalid Base64 value for parameter " + param.getName());
}
valueCount++;
}
if (valueCount != 1) {
throw new GlobalException("Parameter " + param.getName() + " must contain exactly one typed value");
}
return builder.build();
}
@Override
public List<DeDeviceRegistration> deviceList(String robotId) {
try {
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
robotId, SystemServiceGrpc.SystemServiceBlockingStub.class);
SystemCommand.GetDeviceListCommand.Feedback response = stub.getDeviceList(
SystemCommand.GetDeviceListCommand.Request.newBuilder().build());
//调用接口获取返回值对象
SystemCommand.GetSystemStatusCommand.Feedback response=getSystemStatus(terminalId);
List<SystemCommand.SystemDeviceInfo> deviceList = response.getDeviceListList();
List<DeDeviceRegistration> devices = new ArrayList<>(deviceList.size());
for (SystemCommand.SystemDeviceInfo device : deviceList) {
DeDeviceRegistration registration = new DeDeviceRegistration();
registration.setDeviceCode(device.getDeviceId());
registration.setDeviceModel(toDeviceModel(device));
registration.setIdDeDeviceTerminalConfig(robotId);
devices.add(registration);
// 获取设备列表
List<SystemCommand.DeviceList> deviceList = response.getDeviceListList();
// 如果设备列表不为空，则处理设备信息
if (!deviceList.isEmpty()) {
// 创建Device对象列表，用于存储转换后的设备信息
List<DeDeviceRegistration> devices = new ArrayList<>();
// 遍历设备列表，将每个设备信息转换为Device对象
for (SystemCommand.DeviceList device : deviceList) {
DeDeviceRegistration d=new DeDeviceRegistration();
// 设置设备ID
d.setDeviceCode(device.getDeviceId());
// 设置设备类型，将枚举类型转换为字符串
d.setDeviceModel(device.getDeviceType().name());
// 设置设备的终端ID
d.setIdDeDeviceTerminalConfig(terminalId);
devices.add(d);
}
logger.info("获取到设备列表，数量：{}，设备管理器：{} {}",
devices.size(), response.getManagerName(), response.getManagerVersion());
// 记录获取到的设备数量
logger.info("获取到设备列表，数量：{}", devices.size());
return devices;
} catch (Exception e) {
logger.error("调用设备列表接口异常", e);
throw new GlobalException("获取设备列表失败: " + e.getMessage());
}
}
private String toDeviceModel(SystemCommand.SystemDeviceInfo device) {
switch (device.getDeviceType()) {
case SYSTEM_DEVICE_TYPE_AGV:
return "AGV";
case SYSTEM_DEVICE_TYPE_ARM:
return "ARM";
case SYSTEM_DEVICE_TYPE_BATTERY:
return "Battery";
case SYSTEM_DEVICE_TYPE_BIO_HEAD:
return "BioHead";
case SYSTEM_DEVICE_TYPE_CAMERA:
return "Camera";
case SYSTEM_DEVICE_TYPE_CAN_BUS:
return "CanBus";
case SYSTEM_DEVICE_TYPE_DEX_HAND:
return "DexHand";
case SYSTEM_DEVICE_TYPE_GRIPPER:
return "Gripper";
case SYSTEM_DEVICE_TYPE_MICROPHONE:
return "Microphone";
case SYSTEM_DEVICE_TYPE_MOTOR:
return "Motor";
case SYSTEM_DEVICE_TYPE_MOTOR_SYSTEM:
return "MotorSystem";
case SYSTEM_DEVICE_TYPE_MUJOCO_VIEWER:
return "MujocoViewer";
case SYSTEM_DEVICE_TYPE_MUJOCO_WORLD:
return "MujocoWorld";
case SYSTEM_DEVICE_TYPE_ROBOT:
return "Robot";
case SYSTEM_DEVICE_TYPE_SPEAKER:
return "Speaker";
case SYSTEM_DEVICE_TYPE_UNSPECIFIED:
case UNRECOGNIZED:
default:
return device.getTypeName().isEmpty() ? "Unknown" : device.getTypeName();
// 如果响应为空或设备列表为空，记录错误信息
logger.error("获取系统状态失败: {}", response != null ?
(response.getHeader() != null ? response.getHeader().getErrorMessage() : "响应头为空") : "响应为空");
return null;
}catch (Exception e){
// 捕获并记录调用过程中的异常
logger.error("调用系统状态接口异常", e);
return null;
}
}
@Override
public String stopAll(String robotId) {
public String stopAll(String terminalId) {
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
robotId,
terminalId,
SystemServiceGrpc.SystemServiceBlockingStub.class);
SystemCommand.StopAllCommand.Request build = SystemCommand.StopAllCommand.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(""))
@ -192,11 +94,11 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
* @return 系统状态信息，如果获取失败则返回null
*/
@Override
public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId) {
public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId) {
try {
// 创建gRPC阻塞式存根，用于调用服务端方法
SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
robotId,
terminalId,
SystemServiceGrpc.SystemServiceBlockingStub.class);
// 构建请求对象，由于是获取系统状态，请求参数为空
@ -221,4 +123,4 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
return null;
}
}
}
}

54
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java
View File

@ -3,7 +3,6 @@ package com.cmvr.edge.client.service.impl;
import com.cmvr.edge.client.manage.GrpcStreamManager;
import com.cmvr.edge.client.service.EdgeStreamService;
import com.cmvr.framework.websocket.service.GrpcClientService;
import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
import io.grpc.Status;
import io.grpc.stub.StreamObserver;
import org.slf4j.Logger;
@ -13,7 +12,6 @@ import org.springframework.stereotype.Service;
import java.lang.reflect.Method;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
/**
* grpc客户端服务实现类
@ -28,18 +26,14 @@ public class GrpcClientServiceImpl implements GrpcClientService {
* 所有流式服务
*/
private final Map<String, EdgeStreamService> serviceMap;
private final ChannelSubscriptionManager channelSubscriptionManager;
private final Map<String, Object> streamLocks = new ConcurrentHashMap<>();
@Autowired
public GrpcClientServiceImpl(Map<String, EdgeStreamService> serviceMap,
ChannelSubscriptionManager channelSubscriptionManager) {
public GrpcClientServiceImpl(Map<String, EdgeStreamService> serviceMap) {
this.serviceMap = serviceMap;
this.channelSubscriptionManager = channelSubscriptionManager;
}
@Override
public void send(boolean isStart, String robotId, String deviceId, String service, String method) {
public void send(boolean isStart, String terminalId, String deviceId, String service, String method) {
try {
// 从 Map 中获取服务实例
EdgeStreamService serviceInstance = serviceMap.get(service);
@ -48,32 +42,26 @@ public class GrpcClientServiceImpl implements GrpcClientService {
}
// 构造流键
String key = robotId + deviceId + service + method;
String channel = service + "/" + method + "/" + robotId + "/" + deviceId;
Object streamLock = streamLocks.computeIfAbsent(key, ignored -> new Object());
String key = terminalId + deviceId + service + method;
synchronized (streamLock) {
if (isStart) {
if (GrpcStreamManager.containsKey(key)) {
return;
}
Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class);
StreamObserver<?> streamObserver = (StreamObserver<?>) streamMethod.invoke(serviceInstance, robotId, deviceId);
if (streamObserver != null) {
GrpcStreamManager.addStream(key, streamObserver);
}
} else {
// 旧连接的异步取消到达时，如果已有新订阅者，则继续复用当前流。
if (channelSubscriptionManager.hasSubscribers(channel) || !GrpcStreamManager.containsKey(key)) {
return;
}
StreamObserver<?> streamObserver = GrpcStreamManager.removeStream(key);
try {
streamObserver.onError(Status.CANCELLED.withDescription("流需要关闭").asException());
log.info("流关闭: {}", key);
} catch (Exception e) {
log.info("流结束");
}
if (isStart) {
// 通过反射调用指定方法
Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class);
StreamObserver<?> streamObserver = (StreamObserver<?>) streamMethod.invoke(serviceInstance, terminalId, deviceId);
if (streamObserver != null) {
GrpcStreamManager.addStream(key, streamObserver);
}
} else {
if (!GrpcStreamManager.containsKey(key)) {
return;
}
// 移除并关闭流
StreamObserver<?> streamObserver = GrpcStreamManager.removeStream(key);
try {
streamObserver.onError(Status.CANCELLED.withDescription("流需要关闭").asException());
log.info("流关闭: {}", key);
} catch (Exception e) {
log.info("流结束");
}
}
} catch (Exception e) {

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

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

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

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

74
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml
View File

@ -10,12 +10,6 @@
</parent>
<artifactId>cmvr-iot-grpc-lib</artifactId>
<properties>
<cmvr.es.repository>ssh://git@192.168.28.10:10022/SmartBench/cmvr-es.git</cmvr.es.repository>
<cmvr.es.proto.ref>xtkuang_dev</cmvr.es.proto.ref>
<cmvr.es.checkout.dir>${project.build.directory}/cmvr-es</cmvr.es.checkout.dir>
</properties>
<description> cmvr-iot gRPC 公共 proto 生成库</description>
<dependencies>
@ -58,64 +52,6 @@
</extension>
</extensions>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-antrun-plugin</artifactId>
<version>3.1.0</version>
<executions>
<execution>
<id>fetch-cmvr-es-protos</id>
<phase>initialize</phase>
<configuration>
<target>
<delete dir="${cmvr.es.checkout.dir}" quiet="true"/>
<mkdir dir="${project.build.directory}"/>
<exec executable="git" failonerror="true">
<arg value="clone"/>
<arg value="--depth"/>
<arg value="1"/>
<arg value="--filter=blob:none"/>
<arg value="--sparse"/>
<arg value="--single-branch"/>
<arg value="--branch"/>
<arg value="${cmvr.es.proto.ref}"/>
<arg value="${cmvr.es.repository}"/>
<arg value="${cmvr.es.checkout.dir}"/>
</exec>
<exec executable="git" failonerror="true">
<arg value="-C"/>
<arg value="${cmvr.es.checkout.dir}"/>
<arg value="sparse-checkout"/>
<arg value="set"/>
<arg value="protos/cmvr/api"/>
<arg value="protos/cmvr/msgs"/>
<arg value="protos/cmvr/common"/>
</exec>
<exec executable="git" failonerror="true">
<arg value="-C"/>
<arg value="${cmvr.es.checkout.dir}"/>
<arg value="rev-parse"/>
<arg value="HEAD"/>
</exec>
<delete dir="${basedir}/src/main/proto/cmvr" quiet="true"/>
<copy todir="${basedir}/src/main/proto/cmvr/api">
<fileset dir="${cmvr.es.checkout.dir}/protos/cmvr/api" includes="**/*.proto"/>
</copy>
<copy todir="${basedir}/src/main/proto/cmvr/msgs">
<fileset dir="${cmvr.es.checkout.dir}/protos/cmvr/msgs" includes="**/*.proto"/>
</copy>
<copy todir="${basedir}/src/main/proto/cmvr/common">
<fileset dir="${cmvr.es.checkout.dir}/protos/cmvr/common" includes="**/*.proto"/>
</copy>
<delete dir="${basedir}/src/main/java/cmvr" quiet="true"/>
</target>
</configuration>
<goals>
<goal>run</goal>
</goals>
</execution>
</executions>
</plugin>
<plugin>
<groupId>org.xolstice.maven.plugins</groupId>
<artifactId>protobuf-maven-plugin</artifactId>
@ -124,14 +60,10 @@
<protocArtifact>com.google.protobuf:protoc:3.21.7:exe:${os.detected.classifier}</protocArtifact>
<pluginId>grpc-java</pluginId>
<pluginArtifact>io.grpc:protoc-gen-grpc-java:1.52.0:exe:${os.detected.classifier}</pluginArtifact>
<protoSourceRoot>${basedir}/src/main/proto</protoSourceRoot>
<!-- 输出目录 -->
<outputDirectory>${basedir}/src/main/java</outputDirectory>
<!-- 每次执行命令时不清空之前生成的代码(追加的方式) -->
<clearOutputDirectory>false</clearOutputDirectory>
<includes>
<include>cmvr/api/*.proto</include>
<include>cmvr/msgs/*.proto</include>
<include>cmvr/common/*.proto</include>
</includes>
</configuration>
<executions>
<execution>
@ -153,4 +85,4 @@
</plugins>
</build>
</project>
</project>

962
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java
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86
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceGrpc.java
View File

@ -449,37 +449,6 @@ public final class ArmServiceGrpc {
return getComputeForwardKinematicsMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.JsonDeviceCommand.Request,
cmvr.api.Common.JsonDeviceCommand.Feedback> getExecuteJsonCommandMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "ExecuteJsonCommand",
requestType = cmvr.api.Common.JsonDeviceCommand.Request.class,
responseType = cmvr.api.Common.JsonDeviceCommand.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.Common.JsonDeviceCommand.Request,
cmvr.api.Common.JsonDeviceCommand.Feedback> getExecuteJsonCommandMethod() {
io.grpc.MethodDescriptor<cmvr.api.Common.JsonDeviceCommand.Request, cmvr.api.Common.JsonDeviceCommand.Feedback> getExecuteJsonCommandMethod;
if ((getExecuteJsonCommandMethod = ArmServiceGrpc.getExecuteJsonCommandMethod) == null) {
synchronized (ArmServiceGrpc.class) {
if ((getExecuteJsonCommandMethod = ArmServiceGrpc.getExecuteJsonCommandMethod) == null) {
ArmServiceGrpc.getExecuteJsonCommandMethod = getExecuteJsonCommandMethod =
io.grpc.MethodDescriptor.<cmvr.api.Common.JsonDeviceCommand.Request, cmvr.api.Common.JsonDeviceCommand.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "ExecuteJsonCommand"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.Common.JsonDeviceCommand.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.Common.JsonDeviceCommand.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("ExecuteJsonCommand"))
.build();
}
}
}
return getExecuteJsonCommandMethod;
}
/**
* Creates a new async stub that supports all call types for the service
*/
@ -626,16 +595,6 @@ public final class ArmServiceGrpc {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getComputeForwardKinematicsMethod(), responseObserver);
}
/**
* <pre>
* Vendor-specific arm extension currently used for AUBO cabinet IO.
* </pre>
*/
public void executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.Common.JsonDeviceCommand.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getExecuteJsonCommandMethod(), responseObserver);
}
@java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
.addMethod(
@ -736,13 +695,6 @@ public final class ArmServiceGrpc {
cmvr.api.ArmCommand.ComputeForwardKinematics.Request,
cmvr.api.ArmCommand.ComputeForwardKinematics.Response>(
this, METHODID_COMPUTE_FORWARD_KINEMATICS)))
.addMethod(
getExecuteJsonCommandMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.Common.JsonDeviceCommand.Request,
cmvr.api.Common.JsonDeviceCommand.Feedback>(
this, METHODID_EXECUTE_JSON_COMMAND)))
.build();
}
}
@ -872,17 +824,6 @@ public final class ArmServiceGrpc {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getComputeForwardKinematicsMethod(), getCallOptions()), request, responseObserver);
}
/**
* <pre>
* Vendor-specific arm extension currently used for AUBO cabinet IO.
* </pre>
*/
public void executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.Common.JsonDeviceCommand.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getExecuteJsonCommandMethod(), getCallOptions()), request, responseObserver);
}
}
/**
@ -996,16 +937,6 @@ public final class ArmServiceGrpc {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getComputeForwardKinematicsMethod(), getCallOptions(), request);
}
/**
* <pre>
* Vendor-specific arm extension currently used for AUBO cabinet IO.
* </pre>
*/
public cmvr.api.Common.JsonDeviceCommand.Feedback executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getExecuteJsonCommandMethod(), getCallOptions(), request);
}
}
/**
@ -1133,17 +1064,6 @@ public final class ArmServiceGrpc {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getComputeForwardKinematicsMethod(), getCallOptions()), request);
}
/**
* <pre>
* Vendor-specific arm extension currently used for AUBO cabinet IO.
* </pre>
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.JsonDeviceCommand.Feedback> executeJsonCommand(
cmvr.api.Common.JsonDeviceCommand.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getExecuteJsonCommandMethod(), getCallOptions()), request);
}
}
private static final int METHODID_TORQUE_OFF = 0;
@ -1160,7 +1080,6 @@ public final class ArmServiceGrpc {
private static final int METHODID_CALIBRATE_ZERO_Q = 11;
private static final int METHODID_GET_POSE_MATRIX = 12;
private static final int METHODID_COMPUTE_FORWARD_KINEMATICS = 13;
private static final int METHODID_EXECUTE_JSON_COMMAND = 14;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@ -1235,10 +1154,6 @@ public final class ArmServiceGrpc {
serviceImpl.computeForwardKinematics((cmvr.api.ArmCommand.ComputeForwardKinematics.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.ArmCommand.ComputeForwardKinematics.Response>) responseObserver);
break;
case METHODID_EXECUTE_JSON_COMMAND:
serviceImpl.executeJsonCommand((cmvr.api.Common.JsonDeviceCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.Common.JsonDeviceCommand.Feedback>) responseObserver);
break;
default:
throw new AssertionError();
}
@ -1314,7 +1229,6 @@ public final class ArmServiceGrpc {
.addMethod(getCalibrateZeroQMethod())
.addMethod(getGetPoseMatrixMethod())
.addMethod(getComputeForwardKinematicsMethod())
.addMethod(getExecuteJsonCommandMethod())
.build();
}
}

8
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java
View File

@ -25,7 +25,7 @@ public final class ArmServiceOuterClass {
java.lang.String[] descriptorData = {
"\n\032cmvr/api/arm_service.proto\022\010cmvr.api\032\025" +
"cmvr/api/common.proto\032\032cmvr/api/arm_comm" +
"and.proto2\207\t\n\nArmService\022N\n\ttorqueOff\022\037." +
"and.proto2\246\010\n\nArmService\022N\n\ttorqueOff\022\037." +
"cmvr.api.CommandHeader.Request\032 .cmvr.ap" +
"i.CommandHeader.Feedback\022M\n\010torqueOn\022\037.c" +
"mvr.api.CommandHeader.Request\032 .cmvr.api" +
@ -51,10 +51,8 @@ public final class ArmServiceOuterClass {
"est\032 .cmvr.api.GetPoseMatrix.Response\022s\n" +
"\030computeForwardKinematics\022*.cmvr.api.Com" +
"puteForwardKinematics.Request\032+.cmvr.api" +
".ComputeForwardKinematics.Response\022_\n\022Ex" +
"ecuteJsonCommand\022#.cmvr.api.JsonDeviceCo" +
"mmand.Request\032$.cmvr.api.JsonDeviceComma" +
"nd.Feedbackb\006proto3"
".ComputeForwardKinematics.Responseb\006prot" +
"o3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,

3427
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
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80
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceGrpc.java
View File

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

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

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

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

File diff suppressed because it is too large Load Diff

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

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

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

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

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

4405
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemCommand.java
View File

File diff suppressed because it is too large Load Diff

78
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java
View File

@ -77,37 +77,6 @@ public final class SystemServiceGrpc {
return getGetSystemStatusMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.SystemCommand.GetDeviceListCommand.Request,
cmvr.api.SystemCommand.GetDeviceListCommand.Feedback> getGetDeviceListMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "GetDeviceList",
requestType = cmvr.api.SystemCommand.GetDeviceListCommand.Request.class,
responseType = cmvr.api.SystemCommand.GetDeviceListCommand.Feedback.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
public static io.grpc.MethodDescriptor<cmvr.api.SystemCommand.GetDeviceListCommand.Request,
cmvr.api.SystemCommand.GetDeviceListCommand.Feedback> getGetDeviceListMethod() {
io.grpc.MethodDescriptor<cmvr.api.SystemCommand.GetDeviceListCommand.Request, cmvr.api.SystemCommand.GetDeviceListCommand.Feedback> getGetDeviceListMethod;
if ((getGetDeviceListMethod = SystemServiceGrpc.getGetDeviceListMethod) == null) {
synchronized (SystemServiceGrpc.class) {
if ((getGetDeviceListMethod = SystemServiceGrpc.getGetDeviceListMethod) == null) {
SystemServiceGrpc.getGetDeviceListMethod = getGetDeviceListMethod =
io.grpc.MethodDescriptor.<cmvr.api.SystemCommand.GetDeviceListCommand.Request, cmvr.api.SystemCommand.GetDeviceListCommand.Feedback>newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetDeviceList"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.SystemCommand.GetDeviceListCommand.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
cmvr.api.SystemCommand.GetDeviceListCommand.Feedback.getDefaultInstance()))
.setSchemaDescriptor(new SystemServiceMethodDescriptorSupplier("GetDeviceList"))
.build();
}
}
}
return getGetDeviceListMethod;
}
private static volatile io.grpc.MethodDescriptor<cmvr.api.SystemCommand.UpdateParamsCommand.Request,
cmvr.api.SystemCommand.UpdateParamsCommand.Feedback> getUpdateParamsMethod;
@ -232,13 +201,6 @@ public final class SystemServiceGrpc {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetSystemStatusMethod(), responseObserver);
}
/**
*/
public void getDeviceList(cmvr.api.SystemCommand.GetDeviceListCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.GetDeviceListCommand.Feedback> responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetDeviceListMethod(), responseObserver);
}
/**
*/
public void updateParams(cmvr.api.SystemCommand.UpdateParamsCommand.Request request,
@ -269,13 +231,6 @@ public final class SystemServiceGrpc {
cmvr.api.SystemCommand.GetSystemStatusCommand.Request,
cmvr.api.SystemCommand.GetSystemStatusCommand.Feedback>(
this, METHODID_GET_SYSTEM_STATUS)))
.addMethod(
getGetDeviceListMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
cmvr.api.SystemCommand.GetDeviceListCommand.Request,
cmvr.api.SystemCommand.GetDeviceListCommand.Feedback>(
this, METHODID_GET_DEVICE_LIST)))
.addMethod(
getUpdateParamsMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
@ -324,14 +279,6 @@ public final class SystemServiceGrpc {
getChannel().newCall(getGetSystemStatusMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void getDeviceList(cmvr.api.SystemCommand.GetDeviceListCommand.Request request,
io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.GetDeviceListCommand.Feedback> responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getGetDeviceListMethod(), getCallOptions()), request, responseObserver);
}
/**
*/
public void updateParams(cmvr.api.SystemCommand.UpdateParamsCommand.Request request,
@ -377,13 +324,6 @@ public final class SystemServiceGrpc {
getChannel(), getGetSystemStatusMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.SystemCommand.GetDeviceListCommand.Feedback getDeviceList(cmvr.api.SystemCommand.GetDeviceListCommand.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getGetDeviceListMethod(), getCallOptions(), request);
}
/**
*/
public cmvr.api.SystemCommand.UpdateParamsCommand.Feedback updateParams(cmvr.api.SystemCommand.UpdateParamsCommand.Request request) {
@ -429,14 +369,6 @@ public final class SystemServiceGrpc {
getChannel().newCall(getGetSystemStatusMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.SystemCommand.GetDeviceListCommand.Feedback> getDeviceList(
cmvr.api.SystemCommand.GetDeviceListCommand.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getGetDeviceListMethod(), getCallOptions()), request);
}
/**
*/
public com.google.common.util.concurrent.ListenableFuture<cmvr.api.SystemCommand.UpdateParamsCommand.Feedback> updateParams(
@ -456,9 +388,8 @@ public final class SystemServiceGrpc {
private static final int METHODID_GET_SYSTEM_INFO = 0;
private static final int METHODID_GET_SYSTEM_STATUS = 1;
private static final int METHODID_GET_DEVICE_LIST = 2;
private static final int METHODID_UPDATE_PARAMS = 3;
private static final int METHODID_STOP_ALL = 4;
private static final int METHODID_UPDATE_PARAMS = 2;
private static final int METHODID_STOP_ALL = 3;
private static final class MethodHandlers<Req, Resp> implements
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@ -485,10 +416,6 @@ public final class SystemServiceGrpc {
serviceImpl.getSystemStatus((cmvr.api.SystemCommand.GetSystemStatusCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.GetSystemStatusCommand.Feedback>) responseObserver);
break;
case METHODID_GET_DEVICE_LIST:
serviceImpl.getDeviceList((cmvr.api.SystemCommand.GetDeviceListCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.GetDeviceListCommand.Feedback>) responseObserver);
break;
case METHODID_UPDATE_PARAMS:
serviceImpl.updateParams((cmvr.api.SystemCommand.UpdateParamsCommand.Request) request,
(io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.UpdateParamsCommand.Feedback>) responseObserver);
@ -560,7 +487,6 @@ public final class SystemServiceGrpc {
.setSchemaDescriptor(new SystemServiceFileDescriptorSupplier())
.addMethod(getGetSystemInfoMethod())
.addMethod(getGetSystemStatusMethod())
.addMethod(getGetDeviceListMethod())
.addMethod(getUpdateParamsMethod())
.addMethod(getStopAllMethod())
.build();

16
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java
View File

@ -24,20 +24,18 @@ public final class SystemServiceOuterClass {
static {
java.lang.String[] descriptorData = {
"\n\035cmvr/api/system_service.proto\022\010cmvr.ap" +
"i\032\035cmvr/api/system_command.proto2\364\003\n\rSys" +
"i\032\035cmvr/api/system_command.proto2\220\003\n\rSys" +
"temService\022b\n\rGetSystemInfo\022&.cmvr.api.G" +
"etSystemInfoCommand.Request\032\'.cmvr.api.G" +
"etSystemInfoCommand.Feedback\"\000\022h\n\017GetSys" +
"temStatus\022(.cmvr.api.GetSystemStatusComm" +
"and.Request\032).cmvr.api.GetSystemStatusCo" +
"mmand.Feedback\"\000\022b\n\rGetDeviceList\022&.cmvr" +
".api.GetDeviceListCommand.Request\032\'.cmvr" +
".api.GetDeviceListCommand.Feedback\"\000\022_\n\014" +
"UpdateParams\022%.cmvr.api.UpdateParamsComm" +
"and.Request\032&.cmvr.api.UpdateParamsComma" +
"nd.Feedback\"\000\022P\n\007StopAll\022 .cmvr.api.Stop" +
"AllCommand.Request\032!.cmvr.api.StopAllCom" +
"mand.Feedback\"\000b\006proto3"
"mmand.Feedback\"\000\022_\n\014UpdateParams\022%.cmvr." +
"api.UpdateParamsCommand.Request\032&.cmvr.a" +
"pi.UpdateParamsCommand.Feedback\"\000\022P\n\007Sto" +
"pAll\022 .cmvr.api.StopAllCommand.Request\032!" +
".cmvr.api.StopAllCommand.Feedback\"\000b\006pro" +
"to3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,

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

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

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

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

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

File diff suppressed because it is too large Load Diff

847
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/RobotDetailOuterClass.java
View File

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

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

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

3
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto
View File

@ -20,7 +20,4 @@ service ArmService {
rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response);
rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response);
// Vendor-specific arm extension currently used for AUBO cabinet IO.
rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback);
}

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

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

19
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto
View File

@ -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
}
}
/**
@ -267,4 +267,3 @@ message ExpressionYawn {

45
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto
View File

@ -5,43 +5,36 @@ 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){};
// 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){};
rpc ExpressionAngry(ExpressionAngry.Request) returns (ExpressionAngry.Feedback){};
rpc ExpressionSadness(ExpressionSadness.Request) returns (ExpressionSadness.Feedback){};
rpc ExpressionYawn(ExpressionYawn.Request) returns (ExpressionYawn.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){};
rpc ExpressionAngry(ExpressionAngry.Request) returns (ExpressionAngry.Feedback){};
rpc ExpressionSadness(ExpressionSadness.Request) returns (ExpressionSadness.Feedback){};
rpc ExpressionYawn(ExpressionYawn.Request) returns (ExpressionYawn.Feedback){};
}

57
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
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@ -19,18 +19,9 @@ message FrameData {
FrameType type = 4;
string codec = 5;
bool is_key_frame = 6;
// Optional capture and source metadata. Fields 1-6 remain wire-compatible
// with existing clients; older clients safely ignore these additions.
int64 capture_utc_ns = 7;
uint64 source_sequence = 8;
int64 pts = 9;
int64 dts = 10;
uint32 source_fps = 11;
uint64 source_timestamp = 12;
uint64 source_frame_number = 13;
}
message CameraIntrinsics {
message Rs2Intrinsics {
float cx = 1; // 主点水平坐标（从左边缘的像素偏移）
float cy = 2; // 主点垂直坐标（从上边缘的像素偏移）
float fx = 3; // x方向焦距（像素宽度的倍数）
@ -88,7 +79,7 @@ message GetRGBImageCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
CameraIntrinsics intrinsics = 3;
Rs2Intrinsics intrinsics = 3;
}
}
@ -100,7 +91,7 @@ message GetDepthImageCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData depth_frame = 2;
CameraIntrinsics intrinsics = 3;
Rs2Intrinsics intrinsics = 3;
}
}
@ -113,7 +104,7 @@ message GetRGBDImagesCommand {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
FrameData depth_frame = 3;
CameraIntrinsics intrinsics = 4;
Rs2Intrinsics intrinsics = 4;
}
}
@ -137,39 +128,6 @@ message StopCameraRecordingCommand {
}
}
message ControlPtzCommand {
enum Command {
COMMAND_UNSPECIFIED = 0;
TILT_UP = 1;
TILT_DOWN = 2;
PAN_LEFT = 3;
PAN_RIGHT = 4;
UP_LEFT = 5;
UP_RIGHT = 6;
DOWN_LEFT = 7;
DOWN_RIGHT = 8;
ZOOM_IN = 9;
ZOOM_OUT = 10;
PAN_AUTO = 11;
}
enum Action {
START = 0;
STOP = 1;
}
message Request {
CommandHeader.Request header = 1;
Command command = 2;
Action action = 3;
uint32 speed = 4;
}
message Feedback {
CommandHeader.Feedback header = 1;
}
}
message GetRGBImageStreamCommand {
message Request {
CommandHeader.Request header = 1;
@ -179,7 +137,7 @@ message GetRGBImageStreamCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
CameraIntrinsics intrinsics = 3;
Rs2Intrinsics intrinsics = 3;
int32 seq_no = 4;
}
}
@ -193,7 +151,7 @@ message GetDepthImageStreamCommand {
message Feedback {
CommandHeader.Feedback header = 1;
FrameData depth_frame = 2;
CameraIntrinsics intrinsics = 3;
Rs2Intrinsics intrinsics = 3;
int32 seq_no = 4;
}
}
@ -208,9 +166,10 @@ message GetRGBDImagesStreamCommand {
CommandHeader.Feedback header = 1;
FrameData color_frame = 2;
FrameData depth_frame = 3;
CameraIntrinsics intrinsics = 4;
Rs2Intrinsics intrinsics = 4;
int32 seq_no = 5;
}
}

3
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_service.proto
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@ -14,9 +14,8 @@ service CameraService {
rpc GetRGBDImages(GetRGBDImagesCommand.Request) returns (GetRGBDImagesCommand.Feedback) {}
rpc StartRecording(StartCameraRecordingCommand.Request) returns (StartCameraRecordingCommand.Feedback) {}
rpc StopRecording(StopCameraRecordingCommand.Request) returns (StopCameraRecordingCommand.Feedback) {}
rpc ControlPtz(ControlPtzCommand.Request) returns (ControlPtzCommand.Feedback) {}
rpc GetRGBImageStream(stream GetRGBImageStreamCommand.Request) returns (stream GetRGBImageStreamCommand.Feedback) {}
rpc GetDepthImageStream(stream GetDepthImageStreamCommand.Request) returns (stream GetDepthImageStreamCommand.Feedback) {}
rpc GetRGBDImagesStream(stream GetRGBDImagesStreamCommand.Request) returns (stream GetRGBDImagesStreamCommand.Feedback) {}
}
}

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

4
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/dexhand_command.proto
View File

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

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

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

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

73
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_command.proto
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@ -21,77 +21,6 @@ message DeviceList {
DeviceType device_type = 2;
}
// Stable device categories used by GetDeviceList. This intentionally does not
// reuse the legacy DeviceType enum above: its zero value is AGV and it does not
// cover all DeviceManager categories.
enum SystemDeviceType {
SYSTEM_DEVICE_TYPE_UNSPECIFIED = 0;
SYSTEM_DEVICE_TYPE_AGV = 1;
SYSTEM_DEVICE_TYPE_ARM = 2;
SYSTEM_DEVICE_TYPE_BATTERY = 3;
SYSTEM_DEVICE_TYPE_BIO_HEAD = 4;
SYSTEM_DEVICE_TYPE_CAMERA = 5;
SYSTEM_DEVICE_TYPE_CAN_BUS = 6;
SYSTEM_DEVICE_TYPE_DEX_HAND = 7;
SYSTEM_DEVICE_TYPE_GRIPPER = 8;
SYSTEM_DEVICE_TYPE_MICROPHONE = 9;
SYSTEM_DEVICE_TYPE_MOTOR = 10;
SYSTEM_DEVICE_TYPE_MOTOR_SYSTEM = 11;
SYSTEM_DEVICE_TYPE_MUJOCO_VIEWER = 12;
SYSTEM_DEVICE_TYPE_MUJOCO_WORLD = 13;
SYSTEM_DEVICE_TYPE_ROBOT = 14;
SYSTEM_DEVICE_TYPE_SPEAKER = 15;
}
enum SystemDeviceState {
SYSTEM_DEVICE_STATE_UNSPECIFIED = 0;
SYSTEM_DEVICE_STATE_DISABLED = 1;
SYSTEM_DEVICE_STATE_INITIALIZING = 2;
SYSTEM_DEVICE_STATE_REGISTERED = 3;
SYSTEM_DEVICE_STATE_READY = 4;
SYSTEM_DEVICE_STATE_RUNNING = 5;
SYSTEM_DEVICE_STATE_STOPPED = 6;
SYSTEM_DEVICE_STATE_ERROR = 7;
}
enum SystemDeviceHealth {
SYSTEM_DEVICE_HEALTH_UNSPECIFIED = 0;
SYSTEM_DEVICE_HEALTH_HEALTHY = 1;
SYSTEM_DEVICE_HEALTH_DEGRADED = 2;
SYSTEM_DEVICE_HEALTH_FAULT = 3;
}
message SystemDeviceInfo {
string device_id = 1;
SystemDeviceType device_type = 2;
// Concrete backend name for display and diagnostics only. Consumers must
// use device_type, rather than this free-form string, for decisions.
string type_name = 3;
// GetDeviceList currently publishes only enabled entries. Keep this field
// explicit so each row remains self-describing and future-compatible.
bool enabled = 4;
SystemDeviceState manager_state = 5;
SystemDeviceHealth health = 6;
bool has_error = 7;
string error_message = 8;
uint64 status_updated_at_unix_ms = 9;
}
message GetDeviceListCommand {
message Request {}
message Feedback {
CommandHeader.Feedback header = 1;
string manager_name = 2;
string manager_version = 3;
string manager_description = 4;
repeated SystemDeviceInfo device_list = 5;
uint64 sampled_at_unix_ms = 6;
}
}
message GetSystemInfoCommand {
message Request {}
@ -140,4 +69,4 @@ message StopAllCommand {
message Feedback {
CommandHeader.Feedback header = 1;
}
}
}

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

@ -8,7 +8,6 @@ package cmvr.api;
service SystemService {
rpc GetSystemInfo(GetSystemInfoCommand.Request) returns (GetSystemInfoCommand.Feedback) {}
rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
rpc GetDeviceList(GetDeviceListCommand.Request) returns (GetDeviceListCommand.Feedback) {}
rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}

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

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