refactor(audio): 将terminalId替换为robotId以统一机器人标识

- 修改AudioService中terminalId为robotId，包括变量声明、参数传递和日志输出
- 更新BaseChannelSubscribeHandler中的注释和参数解析逻辑
- 修改CameraStreamTicketService中的方法参数和记录类定义
- 更新DeRobotConfig文档中的术语描述
- 替换DeviceListController和EdgeAgvController中的terminalId参数为robotId
- 修改EdgeAgvServiceImpl中所有方法的参数引用
- 更新EdgeArmController中所有终端ID参数为机器人ID
- 修改EdgeArmServiceImpl中所有gRPC客户端调用的参数
- 调整EdgeArmTeleopOpenVO中的字段定义顺序

.gitignore

@@ -45,3 +45,7 @@ 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

README.md

@@ -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。
-- 设备管理：设备注册、终端配置、设备档案和机器人配置。
+- 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。
 - 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、终端和机器人配置 |
+| `cmvr-iot-device` | 设备协议模型、机器人配置和巡检告警监听 |
 | `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 |
-| `ruoyi-ui` | Vue 3 管理控制台 |
+| `cmvr-iot-ui-lxl-dev-worktree` | Vue 3 管理控制台（同级独立前端仓库） |
 
 ## 环境准备
 
@@ -79,7 +79,8 @@ 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/quic_gateway_terminal_migration.sql`：QUIC 节点绑定及运行状态字段。
+- `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。
 
 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。
 
@@ -111,7 +112,7 @@ 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 ruoyi-ui
+cd ../cmvr-iot-ui-lxl-dev-worktree
 pnpm install
 pnpm dev
 ```
@@ -120,7 +121,9 @@ pnpm dev
 
 ## gRPC 与 QUIC
 
-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`。
+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。
 
 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：
 
@@ -139,7 +142,7 @@ mvn test
 mvn clean package -DskipTests
 
 # 构建前端生产包
-cd ruoyi-ui
+cd ../cmvr-iot-ui-lxl-dev-worktree
 pnpm build:prod
 ```
 
@@ -148,6 +151,6 @@ 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。
-- `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。
+- 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。
 - 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。

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

@@ -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 terminalId){
+    public int addDeviceList(@RequestParam String robotId){
 
-        List<DeDeviceRegistration> list = systemService.deviceList(terminalId);
+        List<DeDeviceRegistration> list = systemService.deviceList(robotId);
 
         return registrationService.addDeviceList(list);
     }

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

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

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

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

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

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

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

@@ -4,13 +4,24 @@ import com.alibaba.fastjson2.JSON;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
 import com.cmvr.edge.client.service.EdgeCameraService;
+import com.cmvr.web.service.CameraStreamTicketService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
 import lombok.RequiredArgsConstructor;
+import org.springframework.http.CacheControl;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.MediaType;
+import org.springframework.http.ResponseEntity;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBody;
 
 @Api(tags = "边缘--相机")
 @RestController
@@ -19,46 +30,127 @@ import org.springframework.web.bind.annotation.RestController;
 public class EdgeCameraController extends BaseController {
 
     private final EdgeCameraService edgeCameraService;
+    private final CameraStreamTicketService cameraStreamTicketService;
 
     @ApiOperation("获取相机状态")
     @GetMapping("/status")
-    public AjaxResult status(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult status(
+            @ApiParam(value = "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);
         return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO)));
     }
 
     @ApiOperation("开启相机")
     @GetMapping("/start")
-    public AjaxResult start(EdgeCommonVO edgeCommonVO) {
+    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);
         return success(edgeCameraService.start(edgeCommonVO));
     }
 
     @ApiOperation("关闭相机")
     @GetMapping("/stop")
-    public AjaxResult stop(EdgeCommonVO edgeCommonVO) {
+    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);
         return success(edgeCameraService.stop(edgeCommonVO));
     }
 
     @ApiOperation("获取图片")
     @GetMapping("/getRGBImage")
-    public AjaxResult getRGBImage(EdgeCommonVO edgeCommonVO) {
+    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);
         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(EdgeCommonVO edgeCommonVO) {
+    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);
         return success(edgeCameraService.startRecording(edgeCommonVO));
     }
 
     @ApiOperation("停止录制视频")
     @GetMapping("/stopRecording")
-    public AjaxResult stopRecording(EdgeCommonVO edgeCommonVO) {
+    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);
         return success(edgeCameraService.stopRecording(edgeCommonVO));
     }
 
     @ApiOperation("获取图片和视频")
     @GetMapping("/getRGBDImages")
-    public AjaxResult getRGBDImages(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult getRGBDImages(
+            @ApiParam(value = "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);
         return success(edgeCameraService.getRGBDImages(edgeCommonVO));
     }
+
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
+        EdgeCommonVO vo = new EdgeCommonVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        return vo;
+    }
 }

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

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

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

@@ -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 = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    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) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         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 = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    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) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         return AjaxResult.success(microphoneService.getVolume(edgeCommonVO));
     }

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

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

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

@@ -33,13 +33,13 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:query')")
     @GetMapping("/status")
     public AjaxResult getStatus(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam String terminalId,
+            @RequestParam String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam String deviceId) {
         try {
             // 获取扬声器状态
-            SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(terminalId, deviceId);
+            SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(robotId, 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.getTerminalId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath());
+        speakerService.playAudio(edgeSpeakerPlayAudioVO.getRobotId(), 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.getTerminalId(), edgeCommonVO.getDeviceId());
+        speakerService.stopPlayback(edgeCommonVO.getRobotId(), 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.getTerminalId(), edgeCommonVO.getDeviceId());
+        speakerService.pausePlayback(edgeCommonVO.getRobotId(), 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.getTerminalId(), edgeCommonVO.getDeviceId());
+        speakerService.resumePlayback(edgeCommonVO.getRobotId(), 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.getTerminalId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume());
+        speakerService.setVolume(edgeMicrophoneVolumeVO.getRobotId(), 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 = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam String terminalId,
+            @RequestParam String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam String deviceId) {
-        return AjaxResult.success(speakerService.getVolume(terminalId, deviceId));
+        return AjaxResult.success(speakerService.getVolume(robotId, deviceId));
     }
 
     @ApiOperation("获取所有音频")

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

@@ -1,12 +1,18 @@
 package com.cmvr.web.controller.api;
 
+import com.alibaba.fastjson2.JSON;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
+import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
@@ -18,9 +24,33 @@ public class EdgeSystemController extends BaseController {
 
     private final EdgeSystemService edgeSystemService;
 
+    @ApiOperation("Get edge system information")
+    @GetMapping("/info")
+    public AjaxResult info(@RequestParam("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(String terminalId) {
+    public AjaxResult stopAll(@RequestParam("robotId") String robotId) {
-        return AjaxResult.ok(edgeSystemService.stopAll(terminalId));
+        return AjaxResult.ok(edgeSystemService.stopAll(robotId));
     }
 }

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

@@ -3,7 +3,7 @@ package com.cmvr.web.controller.inspection;
 import java.util.List;
 import jakarta.servlet.http.HttpServletResponse;
 
-import cmvr.msgs.Agv;
+import cmvr.msgs.AgvUtils;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
 import io.swagger.annotations.*;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -70,6 +70,25 @@ 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
      */
@@ -180,7 +199,7 @@ public class InspectionRobotController extends BaseController
     @GetMapping("/{robotId}/location")
     public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
     {
-        Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
+        AgvUtils.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
         return success(location);
     }
 

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

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

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

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

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

@@ -0,0 +1,38 @@
+package com.cmvr.web.service;
+
+import org.springframework.stereotype.Service;
+
+import java.time.Duration;
+import java.util.Map;
+import java.util.UUID;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Service
+public class CameraStreamTicketService {
+
+    private static final long TICKET_LIFETIME_MILLIS = Duration.ofSeconds(30).toMillis();
+    private final Map<String, StreamTarget> tickets = new ConcurrentHashMap<>();
+
+    public String issue(String 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) {
+    }
+}

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

@@ -62,33 +62,33 @@ public class RobotAudioGrpcAdapter {
     private final GrpcServiceManager grpcServiceManager;
     private final ConcurrentMap<String, RobotAudioStream> streams = new ConcurrentHashMap<>();
 
-    public RobotAudioStream openStream(String terminalId,
+    public RobotAudioStream openStream(String robotId,
                                        String deviceId,
                                        String sessionId,
                                        String operatorId,
                                        RobotAudioStreamListener listener) {
-        return openStream(terminalId, deviceId, deviceId, sessionId, operatorId, listener);
+        return openStream(robotId, deviceId, deviceId, sessionId, operatorId, listener);
     }
 
-    public RobotAudioStream openStream(String terminalId,
+    public RobotAudioStream openStream(String robotId,
                                        String speakerDeviceId,
                                        String micDeviceId,
                                        String sessionId,
                                        String operatorId,
                                        RobotAudioStreamListener listener) {
         SpeakerServiceGrpc.SpeakerServiceStub speakerStub =
-                grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceStub.class);
+                grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceStub.class);
         MicPhoneServiceGrpc.MicPhoneServiceStub micStub =
-                grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
+                grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
         SpeakerServiceGrpc.SpeakerServiceBlockingStub speakerBlockingStub =
-                grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+                grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
         MicPhoneServiceGrpc.MicPhoneServiceBlockingStub micBlockingStub =
-                grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+                grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
         preflightDeviceStatus(speakerBlockingStub, micBlockingStub, speakerDeviceId, micDeviceId, sessionId);
 
         RobotAudioStream stream = new RobotAudioStream(
-                terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
+                robotId, 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={}，terminalId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
+            log.info("实时对讲 gRPC 流已创建，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
-                    sessionId, terminalId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
+                    sessionId, robotId, 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 terminalId;
+        private final String robotId;
         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 terminalId,
+        private RobotAudioStream(String robotId,
                                  String speakerDeviceId,
                                  String micDeviceId,
                                  String sessionId,
@@ -198,7 +198,7 @@ public class RobotAudioGrpcAdapter {
                                  SpeakerServiceGrpc.SpeakerServiceStub speakerStub,
                                  MicPhoneServiceGrpc.MicPhoneServiceStub micStub,
                                  RobotAudioStreamListener listener) {
-            this.terminalId = terminalId;
+            this.robotId = robotId;
             this.speakerDeviceId = speakerDeviceId;
             this.micDeviceId = micDeviceId;
             this.sessionId = sessionId;
@@ -365,8 +365,8 @@ public class RobotAudioGrpcAdapter {
             return sessionId;
         }
 
-        public String getTerminalId() {
+        public String getRobotId() {
-            return terminalId;
+            return robotId;
         }
 
         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={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
+            log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
-                    source, sessionId, terminalId, speakerDeviceId, micDeviceId, actual);
+                    source, sessionId, robotId, 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={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
+            log.info("实时对讲 gRPC 流远端结束，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId);
             sendExecutor.execute(new Runnable() {
                 @Override
                 public void run() {

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

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

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

@@ -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<>(); // 设备 ID -> 通道包装器
+    private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 机器人 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 terminalId, Function<String, ManagedChannel> supplier) {
+    public ManagedChannel get(String robotId, Function<String, ManagedChannel> supplier) {
-        return channelMap.compute(terminalId, (k, v) -> {
+        return channelMap.compute(robotId, (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(terminalId)); // 创建新通道包装器
+                return new ChannelWrapper(supplier.apply(robotId)); // 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 {
     }
 
     /**
-     * 终端主动上报的gRPC地址发生变化时立即关闭旧通道。
+     * 机器人主动上报的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 terminalId) {
+    public void invalidate(String robotId) {
-        ChannelWrapper wrapper = channelMap.remove(terminalId);
+        ChannelWrapper wrapper = channelMap.remove(robotId);
         if (wrapper != null) {
             wrapper.close();
         }

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

@@ -1,10 +1,9 @@
 package com.cmvr.edge.client.manage;
 
 import cmvr.api.*;
-import cn.hutool.core.util.ObjUtil;
+import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
-import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.robot.RobotEndpoint;
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
+import com.cmvr.common.robot.RobotEndpointResolver;
-import com.cmvr.device.service.IDeDeviceTerminalConfigService;
 import io.grpc.ManagedChannel;
 import io.grpc.ManagedChannelBuilder;
 import lombok.RequiredArgsConstructor;
@@ -13,6 +12,7 @@ import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
 import jakarta.annotation.PostConstruct;
+import java.net.InetSocketAddress;
 import java.util.Map;
 import java.util.concurrent.*;
 import java.util.function.Function;
@@ -24,7 +24,7 @@ import java.util.function.Function;
 @RequiredArgsConstructor
 public class GrpcServiceManager {
 
-    private final IDeDeviceTerminalConfigService deviceTerminalConfigService;
+    private final RobotEndpointResolver robotEndpointResolver;
 
     @Value("${grpc.client.grpc-server.address}")
     private String DEFAULT_GRPC_ADDRESS;
@@ -61,6 +61,9 @@ public class GrpcServiceManager {
         clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
         // 注册agv服务的stub
         clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
+        clientFactories.put(MotorServiceGrpc.MotorServiceBlockingStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newBlockingStub));
+        clientFactories.put(MotorServiceGrpc.MotorServiceStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newStub));
+        clientFactories.put(ArmTeleopServiceGrpc.ArmTeleopServiceStub.class, new GrpcClientFactory<>(ArmTeleopServiceGrpc::newStub));
         // 注册机器人实时语音双向流服务的异步Stub
     }
 
@@ -69,8 +72,8 @@ public class GrpcServiceManager {
      * 获取 gRPC 客户端 Stub
      */
     @SuppressWarnings("unchecked")
-    public <T> T getGrpcClient(String terminalId, Class<T> serviceClass) {
+    public <T> T getGrpcClient(String robotId, Class<T> serviceClass) {
-        ManagedChannel channel = grpcChannelCache.get(terminalId, this::createChannel);
+        ManagedChannel channel = grpcChannelCache.get(robotId, this::createChannel);
         GrpcClientFactory<T> factory = (GrpcClientFactory<T>) clientFactories.get(serviceClass);
 
         if (factory == null) {
@@ -83,9 +86,9 @@ public class GrpcServiceManager {
     /**
      * 创建gRPC通道
      */
-    private ManagedChannel createChannel(String terminalId) {
+    private ManagedChannel createChannel(String robotId) {
-        String grpcAddress = getGrpcServiceAddress(terminalId);
+        InetSocketAddress endpoint = getGrpcServiceEndpoint(robotId);
-        return ManagedChannelBuilder.forTarget(grpcAddress)
+        return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort())
                 .usePlaintext()
                 .maxInboundMessageSize(50 * 1024 * 1024) // 50MB
                 .build();
@@ -94,12 +97,66 @@ public class GrpcServiceManager {
     /**
      * 获取终端地址
      */
-    private String getGrpcServiceAddress(String terminalId) {
+    private InetSocketAddress getGrpcServiceEndpoint(String robotId) {
-        DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId);
+        RobotEndpoint endpoint = robotEndpointResolver.resolve(robotId);
-        if (ObjUtil.isEmpty(terminal)) {
+        return createEndpoint(endpoint.host(), (long) endpoint.port(), "机器人 " + robotId);
-            return DEFAULT_GRPC_ADDRESS;
+    }
+
+    /**
+     * 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");
         }
-        return StrUtil.format("static://{}:{}", terminal.getHost(), terminal.getPort());
+
+        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");
     }
 
     /**
@@ -111,8 +168,8 @@ 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 invalidateTerminal(String terminalId) {
+    public void invalidateRobot(String robotId) {
-        grpcChannelCache.invalidate(terminalId);
+        grpcChannelCache.invalidate(robotId);
     }
 
     /**

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

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

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

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

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

@@ -0,0 +1,26 @@
+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;
+}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java

@@ -1,224 +0,0 @@
-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();
-    }
-}

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

@@ -176,7 +176,7 @@ public class AudioService implements RobotAudioStreamListener {
     }
 
     private void handleJoin(WebSocketSession webSocketSession, JsonNode jsonNode) {
-        String terminalId = getText(jsonNode, "terminalId");
+        String robotId = getText(jsonNode, "robotId");
         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 (terminalId == null || speakerDeviceId == null || micDeviceId == null) {
+        if (robotId == null || speakerDeviceId == null || micDeviceId == null) {
-            sendError(webSocketSession, sessionId, "terminalId、speakerDeviceId、micDeviceId不能为空");
+            sendError(webSocketSession, sessionId, "robotId、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.terminalId = terminalId;
+            session.robotId = robotId;
             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(terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, this);
+                session.robotStream = robotAudioGrpcAdapter.openStream(robotId, 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={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
+            log.info("实时语音会话创建成功，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, 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={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
+                log.warn("机器人心跳超时，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
-                        session.sessionId, session.terminalId, session.speakerDeviceId, session.micDeviceId);
+                        session.sessionId, session.robotId, 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("terminalId", session.terminalId);
+        event.put("robotId", session.robotId);
         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 terminalId;
+        private String robotId;
         private String deviceId;
         private String speakerDeviceId;
         private String micDeviceId;

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

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

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

@@ -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 terminalId 和 deviceId
+     * @param edgeCommonVO 边缘设备通用参数，包含 robotId 和 deviceId
      * @return 机器人终端返回的通用反馈
      */
     Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO);

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId);
+    SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId, String audioPath);
+    String playAudio(String robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void stopPlayback(String terminalId, String deviceId);
+    void stopPlayback(String robotId, String deviceId);
 
     /**
      * 暂停当前播放
      * 通过gRPC调用暂停扬声器的当前播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void pausePlayback(String terminalId, String deviceId);
+    void pausePlayback(String robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void resumePlayback(String terminalId, String deviceId);
+    void resumePlayback(String robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId, int volume);
+    void setVolume(String robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId);
+    int getVolume(String robotId, String deviceId);
 
     /**
      * 获取所有音频文件

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

@@ -1,8 +1,10 @@
 package com.cmvr.edge.client.service;
 
+import cmvr.api.Common;
 import cmvr.api.SystemCommand;
 import com.cmvr.device.domain.DeDeviceRegistration;
-import com.cmvr.device.domain.vo.Device;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
+import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
 
 import java.util.List;
 
@@ -10,14 +12,20 @@ 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 terminalId);
+    SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId);
+
+    Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request);
+
+    Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
 
 
-    public List<DeDeviceRegistration> deviceList(String terminalId);
+    public List<DeDeviceRegistration> deviceList(String robotId);
 
-    public String stopAll(String terminalId);
+    public String stopAll(String robotId);
 }

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

@@ -3,7 +3,7 @@ package com.cmvr.edge.client.service.impl;
 import cmvr.api.AgvCommand;
 import cmvr.api.AgvServiceGrpc;
 import cmvr.api.Common;
-import cmvr.msgs.Agv;
+import cmvr.msgs.AgvUtils;
 import cn.hutool.core.util.StrUtil;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
@@ -30,9 +30,9 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     private final GrpcServiceManager grpcServiceManager;
 
     @Override
-    public Agv.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
+    public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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 Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
+    public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.clearFault(request));
     }
 
     @Override
-    public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) {
+    public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
         if (pose == null) {
             throw new GlobalException("目标位姿不能为空");
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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<Agv.AgvPathSegment> pathSegments) {
+    public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments) {
         if (pathSegments == null || pathSegments.isEmpty()) {
             throw new GlobalException("路径段不能为空");
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.cancelNavigation(request));
     }
 
     @Override
-    public void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity) {
+    public void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity) {
         if (velocity == null) {
             throw new GlobalException("速度不能为空");
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
+    public List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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, Agv.AgvMapDimension dimension, String mapName, boolean realTime) {
+    public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setDimension(dimension != null ? dimension : Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
+            .setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
             .setRealTime(realTime);
         
         if (StrUtil.isNotBlank(mapName)) {
@@ -246,7 +246,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void stopMapping(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.stopMapping(request));
     }

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

@@ -31,7 +31,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), 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.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建关节位置命令
         ArmCommand.JointPositionCommand jointsCommand = ArmCommand.JointPositionCommand.newBuilder()

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

@@ -0,0 +1,100 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
+import cmvr.api.armteleop.v1.ArmTeleopV1;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO;
+import com.cmvr.edge.client.service.EdgeArmTeleopService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService {
+
+    private final GrpcServiceManager grpcServiceManager;
+    private final GrpcBidiSessionRegistry<ArmTeleopV1.ClientFrame,
+            ArmTeleopV1.ServerFrame> sessions = new GrpcBidiSessionRegistry<>();
+
+    @Override
+    public String open(EdgeArmTeleopOpenVO request) {
+        if (request.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());
+    }
+}

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

@@ -23,9 +23,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
 
     @Override
     public String setExpression(EdgeFacialExpressionVO facialExpressionVo) {
-        String terminalId = facialExpressionVo.getTerminalId();
+        String robotId = facialExpressionVo.getRobotId();
         String deviceId = facialExpressionVo.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId, String deviceId, Integer expressKey) {
+    public String specialExpression(String robotId, String deviceId, Integer expressKey) {
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);

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

@@ -10,14 +10,17 @@ import com.cmvr.common.enums.FileType;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.file.ByteArrayMultipartFile;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.manage.GrpcStreamManager;
 import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
 import com.cmvr.edge.client.service.EdgeCameraService;
 import com.cmvr.edge.client.service.EdgeStreamService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;
-import com.cmvr.edge.client.utils.H265DecoderUtil;
+import com.cmvr.edge.client.utils.H265Fmp4Transcoder;
 import com.cmvr.framework.websocket.service.MessagePushService;
 import com.cmvr.system.service.ISysFileService;
 import com.google.protobuf.ByteString;
+import io.grpc.Status;
 import io.grpc.stub.StreamObserver;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -43,12 +46,17 @@ import java.io.ByteArrayOutputStream;
 import java.io.DataOutputStream;
 import java.io.File;
 import java.io.IOException;
+import java.io.OutputStream;
 import java.nio.file.Files;
 import java.nio.file.Paths;
-import java.util.ArrayList;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 import java.util.Base64;
 import java.util.Iterator;
-import java.util.List;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicReference;
 
 
 @Slf4j
@@ -63,7 +71,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public CameraCommand.CameraState status(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetCameraStateCommand.Request request = CameraCommand.GetCameraStateCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -81,7 +89,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public String start(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StartCameraCommand.Request request = CameraCommand.StartCameraCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -91,7 +99,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public String stop(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StopCameraCommand.Request request = CameraCommand.StopCameraCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -105,7 +113,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         if (!checkStatus(edgeCommonVO)) {
             start(edgeCommonVO);
         }
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetRGBImageCommand.Request request = CameraCommand.GetRGBImageCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -123,7 +131,32 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         } finally {
             deleteTempFile(filePath);
 //             todo 暂时不关闭摄像头
-//            stop(terminalId, deviceId);
+//            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);
         }
     }
 
@@ -132,7 +165,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         if (!checkStatus(edgeCommonVO)) {
             start(edgeCommonVO);
         }
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         String videoPath = StrUtil.format("{}/{}_{}.mp4", "/home/share/assets/video", edgeCommonVO.getDeviceId(), System.currentTimeMillis());
 
         CameraCommand.StartCameraRecordingCommand.Request request = CameraCommand.StartCameraRecordingCommand.Request.newBuilder()
@@ -145,7 +178,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public String stopRecording(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StopCameraRecordingCommand.Request request = CameraCommand.StopCameraRecordingCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -159,7 +192,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             start(edgeCommonVO);
         }
 
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetRGBDImagesCommand.Request request = CameraCommand.GetRGBDImagesCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -188,80 +221,256 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 //            deleteTempFile(filePath);
 //            deleteTempFile(deepFilePath);
 //             todo 暂时不关闭摄像头
-//            stop(terminalId, deviceId);
+//            stop(robotId, deviceId);
         }
 //        return JSON.toJSONString(result);
     }
 
-    // 缓冲区和收集状态
+    @Override
-    private final List<byte[]> framesBuffer = new ArrayList<>();
+    public String controlPtz(EdgeCameraPtzVO ptzVO) {
-    private boolean isCollectingFrames = false;
+        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());
+    }
 
     @Override
     public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(EdgeCommonVO edgeCommonVO) {
-        if (!checkStatus(edgeCommonVO)) {
+        return getRGBImageStream(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
-            start(edgeCommonVO);
+    }
+
+    @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");
         }
-        String terminalId = edgeCommonVO.getTerminalId();
+        if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) {
-        String deviceId = edgeCommonVO.getDeviceId();
+            start(edgeCommonVO);
-        CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceStub.class);
+            cameraState = status(edgeCommonVO);
-        // 创建StreamObserver来处理响应
+        }
+        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);
         StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver = new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
             @Override
             public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
-                CameraCommand.FrameData frame = value.getColorFrame();
+                try {
-                byte[] frameData = frame.getData().toByteArray();
+                    CameraCommand.FrameData frame = value.getColorFrame();
-
+                    transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
-                if (frame.getIsKeyFrame()) { // I帧
+                } catch (IOException exception) {
-                    if (isCollectingFrames) {
+                    log.error("写入摄像头媒体流失败, robotId: {}, deviceId: {}", robotId, deviceId, exception);
-                        // 处理之前的缓冲区数据
+                    transcoder.close();
-                        String videoBase64 = H265DecoderUtil.convertH265FramesToVideo(framesBuffer);
+                    messagePushService.pushToChannel(channel, "500");
-                        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) {
-                // 记录详细的错误信息
+                transcoder.close();
-                log.error("Error occurred in getRGBImageStream for terminalId: {}, deviceId: {}. Error: {}", terminalId, deviceId, t.getMessage(), t);
+                GrpcStreamManager.removeStream(streamKey);
-                // 推送错误信息
+                Status status = Status.fromThrowable(t);
-                messagePushService.pushToChannel("edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId, "500");
+                if (status.getCode() != Status.Code.CANCELLED) {
+                    log.error("摄像头gRPC流异常, robotId: {}, deviceId: {}", robotId, deviceId, t);
+                    messagePushService.pushToChannel(channel, "500");
+                }
             }
 
             @Override
             public void onCompleted() {
-                // 流结束
+                transcoder.close();
-                System.out.println("Stream completed.");
+                GrpcStreamManager.removeStream(streamKey);
+                log.info("摄像头gRPC流结束, robotId: {}, deviceId: {}", robotId, deviceId);
             }
         };
-        // 创建StreamObserver来发送请求
+        StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> grpcRequestObserver;
-        StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> requestObserver = stub.getRGBImageStream(responseObserver);
+        try {
+            grpcRequestObserver = stub.getRGBImageStream(responseObserver);
+            requestObserverRef.set(grpcRequestObserver);
+        } catch (RuntimeException exception) {
+            transcoder.close();
+            throw exception;
+        }
 
-        // 构建请求并发送
         CameraCommand.GetRGBImageStreamCommand.Request request = CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .setEof(false)
                 .build();
 
-        requestObserver.onNext(request);
+        grpcRequestObserver.onNext(request);
-        return requestObserver;
+        return new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>() {
+            @Override
+            public void onNext(CameraCommand.GetRGBImageStreamCommand.Request value) {
+                grpcRequestObserver.onNext(value);
+            }
 
+            @Override
+            public void onError(Throwable throwable) {
+                transcoder.close();
+                grpcRequestObserver.onError(throwable);
+            }
+
+            @Override
+            public void onCompleted() {
+                transcoder.close();
+                grpcRequestObserver.onCompleted();
+            }
+        };
+
+    }
+
+    @Override
+    public void writeRGBVideoStream(String 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
@@ -447,4 +656,57 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             }
         }
     }
+
+    private String saveDepthImage(CameraCommand.FrameData frame) {
+        int pixelCount = frame.getWidth() * frame.getHeight();
+        byte[] source = frame.getData().toByteArray();
+        if (frame.getType() == CameraCommand.FrameData.FrameType.U8C1) {
+            if (source.length < pixelCount) {
+                throw new GlobalException("Depth image byte count is invalid");
+            }
+            return saveImage(ByteString.copyFrom(source, 0, pixelCount), frame.getWidth(), frame.getHeight(), true);
+        }
+
+        double[] values = new double[pixelCount];
+        ByteBuffer buffer = ByteBuffer.wrap(source).order(ByteOrder.LITTLE_ENDIAN);
+        if (frame.getType() == CameraCommand.FrameData.FrameType.F32C1) {
+            if (source.length < pixelCount * Float.BYTES) {
+                throw new GlobalException("F32 depth image byte count is invalid");
+            }
+            for (int i = 0; i < pixelCount; i++) values[i] = buffer.getFloat();
+        } else if (frame.getType() == CameraCommand.FrameData.FrameType.U16C1
+                || frame.getType() == CameraCommand.FrameData.FrameType.F16C1) {
+            if (source.length < pixelCount * Short.BYTES) {
+                throw new GlobalException("16-bit depth image byte count is invalid");
+            }
+            for (int i = 0; i < pixelCount; i++) values[i] = Short.toUnsignedInt(buffer.getShort());
+        } else {
+            throw new GlobalException("Unsupported depth frame type: " + frame.getType());
+        }
+
+        double min = Double.POSITIVE_INFINITY;
+        double max = Double.NEGATIVE_INFINITY;
+        for (double value : values) {
+            if (Double.isFinite(value) && value > 0) {
+                min = Math.min(min, value);
+                max = Math.max(max, value);
+            }
+        }
+        byte[] grayscale = new byte[pixelCount];
+        if (Double.isFinite(min) && max > min) {
+            double scale = 255.0 / (max - min);
+            for (int i = 0; i < values.length; i++) {
+                double value = values[i];
+                grayscale[i] = !Double.isFinite(value) || value <= 0
+                        ? 0 : (byte) Math.max(0, Math.min(255, Math.round((value - min) * scale)));
+            }
+        }
+        return saveImage(ByteString.copyFrom(grayscale), frame.getWidth(), frame.getHeight(), true);
+    }
+
+    private static final class CameraStreamWriteException extends RuntimeException {
+        private CameraStreamWriteException(IOException cause) {
+            super(cause);
+        }
+    }
 }

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

@@ -24,8 +24,8 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
     private final MessagePushService messagePushService;
 
     @Override
-    public DexhandCommand.DexHandState getStatus(String terminalId, String deviceId) {
+    public DexhandCommand.DexHandState getStatus(String robotId, String deviceId) {
-        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
+        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId, String deviceId) {
+    public void setDexHandPos(String robotId, String deviceId) {
 
     }
 
     @Override
-    public void setDexHandAngle(String terminalId, String deviceId, int id, float value) {
+    public void setDexHandAngle(String robotId, String deviceId, int id, float value) {
-        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
+        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId, String deviceId) {
+    public void setDexHandForce(String robotId, String deviceId) {
 
     }
 
     @Override
-    public void setDexHandSpeed(String terminalId, String deviceId) {
+    public void setDexHandSpeed(String robotId, String deviceId) {
 
     }
 
     @Override
-    public void setDexHandPresetAct(String terminalId, String deviceId) {
+    public void setDexHandPresetAct(String robotId, String deviceId) {
 
     }
 
     @Override
-    public String getSensorData(String terminalId, String deviceId) {
+    public String getSensorData(String robotId, String deviceId) {
-        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
+        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId, String deviceId) {
+    public StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String robotId, String deviceId) {
-        DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceStub.class);
+        DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(robotId, 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/" + terminalId + "/" + deviceId, playLoad);
+                messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + robotId + "/" + deviceId, playLoad);
             }
 
             @Override

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

@@ -26,8 +26,8 @@ public class EdgeHlcServiceImpl implements EdgeHlcService {
     private final GrpcServiceManager grpcServiceManager;
 
     @Override
-    public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce) {
+    public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce) {
-        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, HlcServiceGrpc.HlcServiceBlockingStub.class);
+        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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.getTerminalId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
+        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getRobotId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
         HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeTouchVO.getDeviceId()))
                 .setU(edgeTouchVO.getX())

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

@@ -41,7 +41,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     @Override
     public String getStatus(EdgeCommonVO edgeCommonVO) {
         try {
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), 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.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), 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.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), 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.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), 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.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), 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.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getRobotId(), 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.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
             // 构建请求消息
             MicrophoneCommand.GetMicPhoneVolumeCommand.Request request = MicrophoneCommand.GetMicPhoneVolumeCommand.Request.newBuilder()

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

@@ -0,0 +1,189 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.MotorCommand;
+import cmvr.api.MotorServiceGrpc;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
+import com.cmvr.edge.client.service.EdgeMotorService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentMap;
+
+@Service
+@RequiredArgsConstructor
+public class EdgeMotorServiceImpl implements EdgeMotorService {
+
+    private final GrpcServiceManager grpcServiceManager;
+    private final GrpcBidiSessionRegistry<MotorCommand.CyclicPositionRequest,
+            MotorCommand.CyclicControlResponse> positionStreams = new GrpcBidiSessionRegistry<>();
+    private final GrpcBidiSessionRegistry<MotorCommand.CyclicVelocityRequest,
+            MotorCommand.CyclicControlResponse> velocityStreams = new GrpcBidiSessionRegistry<>();
+    private final ConcurrentMap<String, Boolean> streamTypes = new ConcurrentHashMap<>();
+
+    @Override
+    public MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request) {
+        return blockingStub(request.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);
+    }
+}

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

@@ -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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId) {
+    public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId) {
         try {
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId, String audioPath) {
+    public String playAudio(String robotId, String deviceId, String audioPath) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void stopPlayback(String terminalId, String deviceId) {
+    public void stopPlayback(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void pausePlayback(String terminalId, String deviceId) {
+    public void pausePlayback(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void resumePlayback(String terminalId, String deviceId) {
+    public void resumePlayback(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId, int volume) {
+    public void setVolume(String robotId, String deviceId, int volume) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, 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 terminalId 终端设备ID
+     * @param robotId 机器人永久唯一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 terminalId, String deviceId) {
+    public int getVolume(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.GetSpeakerVolumeCommand.Request request = SpeakerCommand.GetSpeakerVolumeCommand.Request.newBuilder()

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

@@ -1,18 +1,25 @@
 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;
 
 /**
@@ -29,55 +36,146 @@ 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());
+    }
 
-    public List<DeDeviceRegistration> deviceList(String terminalId){
+    @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();
+    }
 
+    @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 {
-        //调用接口获取返回值对象
+            SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-        SystemCommand.GetSystemStatusCommand.Feedback response=getSystemStatus(terminalId);
+                    robotId, SystemServiceGrpc.SystemServiceBlockingStub.class);
+            SystemCommand.GetDeviceListCommand.Feedback response = stub.getDeviceList(
+                    SystemCommand.GetDeviceListCommand.Request.newBuilder().build());
 
-        // 获取设备列表
+            List<SystemCommand.SystemDeviceInfo> deviceList = response.getDeviceListList();
-        List<SystemCommand.DeviceList> deviceList = response.getDeviceListList();
+            List<DeDeviceRegistration> devices = new ArrayList<>(deviceList.size());
-
+            for (SystemCommand.SystemDeviceInfo device : deviceList) {
-        // 如果设备列表不为空，则处理设备信息
+                DeDeviceRegistration registration = new DeDeviceRegistration();
-        if (!deviceList.isEmpty()) {
+                registration.setDeviceCode(device.getDeviceId());
-            // 创建Device对象列表，用于存储转换后的设备信息
+                registration.setDeviceModel(toDeviceModel(device));
-            List<DeDeviceRegistration> devices = new ArrayList<>();
+                registration.setIdDeDeviceTerminalConfig(robotId);
-
+                devices.add(registration);
-            // 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);
             }
 
-            // 记录获取到的设备数量
+            logger.info("获取到设备列表，数量：{}，设备管理器：{} {}",
-            logger.info("获取到设备列表，数量：{}", devices.size());
+                    devices.size(), response.getManagerName(), response.getManagerVersion());
             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());
         }
+    }
 
-        // 如果响应为空或设备列表为空，记录错误信息
+    private String toDeviceModel(SystemCommand.SystemDeviceInfo device) {
-        logger.error("获取系统状态失败: {}", response != null ?
+        switch (device.getDeviceType()) {
-                (response.getHeader() != null ? response.getHeader().getErrorMessage() : "响应头为空") : "响应为空");
+            case SYSTEM_DEVICE_TYPE_AGV:
-        return null;
+                return "AGV";
-
+            case SYSTEM_DEVICE_TYPE_ARM:
-        }catch (Exception e){
+                return "ARM";
-            // 捕获并记录调用过程中的异常
+            case SYSTEM_DEVICE_TYPE_BATTERY:
-            logger.error("调用系统状态接口异常", e);
+                return "Battery";
-            return null;
+            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();
         }
     }
 
     @Override
-    public String stopAll(String terminalId) {
+    public String stopAll(String robotId) {
         SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                terminalId,
+                robotId,
                 SystemServiceGrpc.SystemServiceBlockingStub.class);
         SystemCommand.StopAllCommand.Request build = SystemCommand.StopAllCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(""))
@@ -94,11 +192,11 @@ 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 terminalId) {
+    public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId) {
         try {
             // 创建gRPC阻塞式存根，用于调用服务端方法
             SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                    terminalId,
+                    robotId,
                     SystemServiceGrpc.SystemServiceBlockingStub.class);
             
             // 构建请求对象，由于是获取系统状态，请求参数为空

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

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

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

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

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/README.md

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

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml

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

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

@@ -449,6 +449,37 @@ 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
    */
@@ -595,6 +626,16 @@ 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(
@@ -695,6 +736,13 @@ 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();
     }
   }
@@ -824,6 +872,17 @@ 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);
+    }
   }
 
   /**
@@ -937,6 +996,16 @@ 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);
+    }
   }
 
   /**
@@ -1064,6 +1133,17 @@ 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;
@@ -1080,6 +1160,7 @@ 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>,
@@ -1154,6 +1235,10 @@ 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();
       }
@@ -1229,6 +1314,7 @@ public final class ArmServiceGrpc {
               .addMethod(getCalibrateZeroQMethod())
               .addMethod(getGetPoseMatrixMethod())
               .addMethod(getComputeForwardKinematicsMethod())
+              .addMethod(getExecuteJsonCommandMethod())
               .build();
         }
       }

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

@@ -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\246\010\n\nArmService\022N\n\ttorqueOff\022\037." +
+      "and.proto2\207\t\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" +
@@ -51,8 +51,10 @@ public final class ArmServiceOuterClass {
       "est\032 .cmvr.api.GetPoseMatrix.Response\022s\n" +
       "\030computeForwardKinematics\022*.cmvr.api.Com" +
       "puteForwardKinematics.Request\032+.cmvr.api" +
-      ".ComputeForwardKinematics.Responseb\006prot" +
+      ".ComputeForwardKinematics.Response\022_\n\022Ex" +
-      "o3"
+      "ecuteJsonCommand\022#.cmvr.api.JsonDeviceCo" +
+      "mmand.Request\032$.cmvr.api.JsonDeviceComma" +
+      "nd.Feedbackb\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,

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

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

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

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

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

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

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

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

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

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

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

@@ -77,6 +77,37 @@ 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;
 
@@ -201,6 +232,13 @@ 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,
@@ -231,6 +269,13 @@ 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(
@@ -279,6 +324,14 @@ 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,
@@ -324,6 +377,13 @@ 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) {
@@ -369,6 +429,14 @@ 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(
@@ -388,8 +456,9 @@ public final class SystemServiceGrpc {
 
   private static final int METHODID_GET_SYSTEM_INFO = 0;
   private static final int METHODID_GET_SYSTEM_STATUS = 1;
-  private static final int METHODID_UPDATE_PARAMS = 2;
+  private static final int METHODID_GET_DEVICE_LIST = 2;
-  private static final int METHODID_STOP_ALL = 3;
+  private static final int METHODID_UPDATE_PARAMS = 3;
+  private static final int METHODID_STOP_ALL = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -416,6 +485,10 @@ 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);
@@ -487,6 +560,7 @@ public final class SystemServiceGrpc {
               .setSchemaDescriptor(new SystemServiceFileDescriptorSupplier())
               .addMethod(getGetSystemInfoMethod())
               .addMethod(getGetSystemStatusMethod())
+              .addMethod(getGetDeviceListMethod())
               .addMethod(getUpdateParamsMethod())
               .addMethod(getStopAllMethod())
               .build();

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

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

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

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

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Cia402.java

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

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

@@ -0,0 +1,909 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/error_code.proto
+
+package cmvr.msgs;
+
+public final class ErrorCodeOuterClass {
+  private ErrorCodeOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * <pre>
+   * Error codes enum for API's categorized by modules.
+   * </pre>
+   *
+   * Protobuf enum {@code cmvr.msgs.ErrorCode}
+   */
+  public enum ErrorCode
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * <pre>
+     * No error, returns on success.
+     * </pre>
+     *
+     * <code>OK = 0;</code>
+     */
+    OK(0),
+    /**
+     * <pre>
+     * Canbus module error codes start from here.
+     * </pre>
+     *
+     * <code>CANBUS_ERROR = 2000;</code>
+     */
+    CANBUS_ERROR(2000),
+    /**
+     * <code>CAN_CLIENT_ERROR_BASE = 2100;</code>
+     */
+    CAN_CLIENT_ERROR_BASE(2100),
+    /**
+     * <code>CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;</code>
+     */
+    CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED(2101),
+    /**
+     * <code>CAN_CLIENT_ERROR_FRAME_NUM = 2102;</code>
+     */
+    CAN_CLIENT_ERROR_FRAME_NUM(2102),
+    /**
+     * <code>CAN_CLIENT_ERROR_SEND_FAILED = 2103;</code>
+     */
+    CAN_CLIENT_ERROR_SEND_FAILED(2103),
+    /**
+     * <code>CAN_CLIENT_ERROR_RECV_FAILED = 2104;</code>
+     */
+    CAN_CLIENT_ERROR_RECV_FAILED(2104),
+    /**
+     * <pre>
+     * motor
+     * </pre>
+     *
+     * <code>MOTOR_ERROR = 3000;</code>
+     */
+    MOTOR_ERROR(3000),
+    /**
+     * <code>MOTOR_ERROR_SET_ZERO = 3001;</code>
+     */
+    MOTOR_ERROR_SET_ZERO(3001),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * <pre>
+     * No error, returns on success.
+     * </pre>
+     *
+     * <code>OK = 0;</code>
+     */
+    public static final int OK_VALUE = 0;
+    /**
+     * <pre>
+     * Canbus module error codes start from here.
+     * </pre>
+     *
+     * <code>CANBUS_ERROR = 2000;</code>
+     */
+    public static final int CANBUS_ERROR_VALUE = 2000;
+    /**
+     * <code>CAN_CLIENT_ERROR_BASE = 2100;</code>
+     */
+    public static final int CAN_CLIENT_ERROR_BASE_VALUE = 2100;
+    /**
+     * <code>CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;</code>
+     */
+    public static final int CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED_VALUE = 2101;
+    /**
+     * <code>CAN_CLIENT_ERROR_FRAME_NUM = 2102;</code>
+     */
+    public static final int CAN_CLIENT_ERROR_FRAME_NUM_VALUE = 2102;
+    /**
+     * <code>CAN_CLIENT_ERROR_SEND_FAILED = 2103;</code>
+     */
+    public static final int CAN_CLIENT_ERROR_SEND_FAILED_VALUE = 2103;
+    /**
+     * <code>CAN_CLIENT_ERROR_RECV_FAILED = 2104;</code>
+     */
+    public static final int CAN_CLIENT_ERROR_RECV_FAILED_VALUE = 2104;
+    /**
+     * <pre>
+     * motor
+     * </pre>
+     *
+     * <code>MOTOR_ERROR = 3000;</code>
+     */
+    public static final int MOTOR_ERROR_VALUE = 3000;
+    /**
+     * <code>MOTOR_ERROR_SET_ZERO = 3001;</code>
+     */
+    public static final int MOTOR_ERROR_SET_ZERO_VALUE = 3001;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ErrorCode valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static ErrorCode forNumber(int value) {
+      switch (value) {
+        case 0: return OK;
+        case 2000: return CANBUS_ERROR;
+        case 2100: return CAN_CLIENT_ERROR_BASE;
+        case 2101: return CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED;
+        case 2102: return CAN_CLIENT_ERROR_FRAME_NUM;
+        case 2103: return CAN_CLIENT_ERROR_SEND_FAILED;
+        case 2104: return CAN_CLIENT_ERROR_RECV_FAILED;
+        case 3000: return MOTOR_ERROR;
+        case 3001: return MOTOR_ERROR_SET_ZERO;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap<ErrorCode>
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ErrorCode> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap<ErrorCode>() {
+            public ErrorCode findValueByNumber(int number) {
+              return ErrorCode.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.ErrorCodeOuterClass.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final ErrorCode[] VALUES = values();
+
+    public static ErrorCode valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private ErrorCode(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.ErrorCode)
+  }
+
+  public interface StatusPbOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.StatusPb)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
+     * @return The enum numeric value on the wire for errorCode.
+     */
+    int getErrorCodeValue();
+    /**
+     * <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
+     * @return The errorCode.
+     */
+    cmvr.msgs.ErrorCodeOuterClass.ErrorCode getErrorCode();
+
+    /**
+     * <code>string msg = 2;</code>
+     * @return The msg.
+     */
+    java.lang.String getMsg();
+    /**
+     * <code>string msg = 2;</code>
+     * @return The bytes for msg.
+     */
+    com.google.protobuf.ByteString
+        getMsgBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.msgs.StatusPb}
+   */
+  public static final class StatusPb extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.StatusPb)
+      StatusPbOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use StatusPb.newBuilder() to construct.
+    private StatusPb(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private StatusPb() {
+      errorCode_ = 0;
+      msg_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new StatusPb();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_fieldAccessorTable
+          .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)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb 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.msgs.ErrorCodeOuterClass.StatusPb parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb 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.ErrorCodeOuterClass.StatusPb parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb 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.ErrorCodeOuterClass.StatusPb 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.StatusPb}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.msgs.StatusPb)
+        cmvr.msgs.ErrorCodeOuterClass.StatusPbOrBuilder {
+      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);
+      }
+
+      // Construct using cmvr.msgs.ErrorCodeOuterClass.StatusPb.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        errorCode_ = 0;
+
+        msg_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.StatusPb getDefaultInstanceForType() {
+        return cmvr.msgs.ErrorCodeOuterClass.StatusPb.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.StatusPb build() {
+        cmvr.msgs.ErrorCodeOuterClass.StatusPb result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.StatusPb buildPartial() {
+        cmvr.msgs.ErrorCodeOuterClass.StatusPb result = new cmvr.msgs.ErrorCodeOuterClass.StatusPb(this);
+        result.errorCode_ = errorCode_;
+        result.msg_ = msg_;
+        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.ErrorCodeOuterClass.StatusPb) {
+          return mergeFrom((cmvr.msgs.ErrorCodeOuterClass.StatusPb)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.msgs.ErrorCodeOuterClass.StatusPb other) {
+        if (other == cmvr.msgs.ErrorCodeOuterClass.StatusPb.getDefaultInstance()) return this;
+        if (other.errorCode_ != 0) {
+          setErrorCodeValue(other.getErrorCodeValue());
+        }
+        if (!other.getMsg().isEmpty()) {
+          msg_ = other.msg_;
+          onChanged();
+        }
+        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 8: {
+                errorCode_ = input.readEnum();
+
+                break;
+              } // case 8
+              case 18: {
+                msg_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 18
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int errorCode_ = 0;
+      /**
+       * <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>
+       * @param value The enum numeric value on the wire for errorCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrorCodeValue(int value) {
+        
+        errorCode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <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;
+      }
+      /**
+       * <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
+       * @param value The errorCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrorCode(cmvr.msgs.ErrorCodeOuterClass.ErrorCode value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        errorCode_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>.cmvr.msgs.ErrorCode error_code = 1;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearErrorCode() {
+        
+        errorCode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object msg_ = "";
+      /**
+       * <code>string msg = 2;</code>
+       * @return The msg.
+       */
+      public java.lang.String getMsg() {
+        java.lang.Object ref = msg_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          msg_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <code>string msg = 2;</code>
+       * @return The bytes for msg.
+       */
+      public com.google.protobuf.ByteString
+          getMsgBytes() {
+        java.lang.Object ref = msg_;
+        if (ref instanceof 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;
+        }
+      }
+      /**
+       * <code>string msg = 2;</code>
+       * @param value The msg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMsg(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        msg_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>string msg = 2;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMsg() {
+        
+        msg_ = getDefaultInstance().getMsg();
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>string msg = 2;</code>
+       * @param value The bytes for msg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMsgBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        msg_ = value;
+        onChanged();
+        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.StatusPb)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.StatusPb)
+    private static final cmvr.msgs.ErrorCodeOuterClass.StatusPb DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.ErrorCodeOuterClass.StatusPb();
+    }
+
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<StatusPb>
+        PARSER = new com.google.protobuf.AbstractParser<StatusPb>() {
+      @java.lang.Override
+      public StatusPb 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<StatusPb> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<StatusPb> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.ErrorCodeOuterClass.StatusPb getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_StatusPb_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_StatusPb_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/msgs/error_code.proto\022\tcmvr.msgs\"" +
+      "A\n\010StatusPb\022(\n\nerror_code\030\001 \001(\0162\024.cmvr.m" +
+      "sgs.ErrorCode\022\013\n\003msg\030\002 \001(\t*\200\002\n\tErrorCode" +
+      "\022\006\n\002OK\020\000\022\021\n\014CANBUS_ERROR\020\320\017\022\032\n\025CAN_CLIEN" +
+      "T_ERROR_BASE\020\264\020\022(\n#CAN_CLIENT_ERROR_OPEN" +
+      "_DEVICE_FAILED\020\265\020\022\037\n\032CAN_CLIENT_ERROR_FR" +
+      "AME_NUM\020\266\020\022!\n\034CAN_CLIENT_ERROR_SEND_FAIL" +
+      "ED\020\267\020\022!\n\034CAN_CLIENT_ERROR_RECV_FAILED\020\270\020" +
+      "\022\020\n\013MOTOR_ERROR\020\270\027\022\031\n\024MOTOR_ERROR_SET_ZE" +
+      "RO\020\271\027b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+    internal_static_cmvr_msgs_StatusPb_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_StatusPb_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_StatusPb_descriptor,
+        new java.lang.String[] { "ErrorCode", "Msg", });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}

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

@@ -0,0 +1,847 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/robot_detail.proto
+
+package cmvr.msgs;
+
+public final class RobotDetailOuterClass {
+  private RobotDetailOuterClass() {}
+  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 interface RobotDetailOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.RobotDetail)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * key 电机 nodeid
+     * </pre>
+     *
+     * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+     */
+    int getMotorsCount();
+    /**
+     * <pre>
+     * key 电机 nodeid
+     * </pre>
+     *
+     * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+     */
+    boolean containsMotors(
+        int key);
+    /**
+     * Use {@link #getMotorsMap()} instead.
+     */
+    @java.lang.Deprecated
+    java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+    getMotors();
+    /**
+     * <pre>
+     * key 电机 nodeid
+     * </pre>
+     *
+     * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+     */
+    java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+    getMotorsMap();
+    /**
+     * <pre>
+     * key 电机 nodeid
+     * </pre>
+     *
+     * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+     */
+
+    /* nullable */
+cmvr.msgs.Motor.MotorStatus getMotorsOrDefault(
+        int key,
+        /* nullable */
+cmvr.msgs.Motor.MotorStatus defaultValue);
+    /**
+     * <pre>
+     * key 电机 nodeid
+     * </pre>
+     *
+     * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+     */
+
+    cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
+        int key);
+  }
+  /**
+   * Protobuf type {@code cmvr.msgs.RobotDetail}
+   */
+  public static final class RobotDetail extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.RobotDetail)
+      RobotDetailOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use RobotDetail.newBuilder() to construct.
+    private RobotDetail(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private RobotDetail() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new RobotDetail();
+    }
+
+    @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.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
+    }
+
+    @SuppressWarnings({"rawtypes"})
+    @java.lang.Override
+    protected com.google.protobuf.MapField internalGetMapField(
+        int number) {
+      switch (number) {
+        case 1:
+          return internalGetMotors();
+        default:
+          throw new RuntimeException(
+              "Invalid map field number: " + number);
+      }
+    }
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.msgs.RobotDetailOuterClass.RobotDetail.class, cmvr.msgs.RobotDetailOuterClass.RobotDetail.Builder.class);
+    }
+
+    public static final int MOTORS_FIELD_NUMBER = 1;
+    private static final class MotorsDefaultEntryHolder {
+      static final com.google.protobuf.MapEntry<
+          java.lang.Integer, cmvr.msgs.Motor.MotorStatus> defaultEntry =
+              com.google.protobuf.MapEntry
+              .<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>newDefaultInstance(
+                  cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor, 
+                  com.google.protobuf.WireFormat.FieldType.UINT32,
+                  0,
+                  com.google.protobuf.WireFormat.FieldType.MESSAGE,
+                  cmvr.msgs.Motor.MotorStatus.getDefaultInstance());
+    }
+    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_;
+    }
+
+    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);
+    }
+
+    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 {
+      com.google.protobuf.GeneratedMessageV3
+        .serializeIntegerMapTo(
+          output,
+          internalGetMotors(),
+          MotorsDefaultEntryHolder.defaultEntry,
+          1);
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      for (java.util.Map.Entry<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> entry
+           : internalGetMotors().getMap().entrySet()) {
+        com.google.protobuf.MapEntry<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+        motors__ = MotorsDefaultEntryHolder.defaultEntry.newBuilderForType()
+            .setKey(entry.getKey())
+            .setValue(entry.getValue())
+            .build();
+        size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(1, motors__);
+      }
+      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.RobotDetailOuterClass.RobotDetail)) {
+        return super.equals(obj);
+      }
+      cmvr.msgs.RobotDetailOuterClass.RobotDetail other = (cmvr.msgs.RobotDetailOuterClass.RobotDetail) obj;
+
+      if (!internalGetMotors().equals(
+          other.internalGetMotors())) 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();
+      if (!internalGetMotors().getMap().isEmpty()) {
+        hash = (37 * hash) + MOTORS_FIELD_NUMBER;
+        hash = (53 * hash) + internalGetMotors().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail 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.RobotDetailOuterClass.RobotDetail parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    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
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    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);
+        }
+      }
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.msgs.RobotDetailOuterClass.RobotDetail.class, cmvr.msgs.RobotDetailOuterClass.RobotDetail.Builder.class);
+      }
+
+      // Construct using cmvr.msgs.RobotDetailOuterClass.RobotDetail.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        internalGetMutableMotors().clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstanceForType() {
+        return cmvr.msgs.RobotDetailOuterClass.RobotDetail.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.RobotDetailOuterClass.RobotDetail build() {
+        cmvr.msgs.RobotDetailOuterClass.RobotDetail result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.RobotDetailOuterClass.RobotDetail buildPartial() {
+        cmvr.msgs.RobotDetailOuterClass.RobotDetail result = new cmvr.msgs.RobotDetailOuterClass.RobotDetail(this);
+        int from_bitField0_ = bitField0_;
+        result.motors_ = internalGetMotors();
+        result.motors_.makeImmutable();
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.msgs.RobotDetailOuterClass.RobotDetail) {
+          return mergeFrom((cmvr.msgs.RobotDetailOuterClass.RobotDetail)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.msgs.RobotDetailOuterClass.RobotDetail other) {
+        if (other == cmvr.msgs.RobotDetailOuterClass.RobotDetail.getDefaultInstance()) return this;
+        internalGetMutableMotors().mergeFrom(
+            other.internalGetMotors());
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                com.google.protobuf.MapEntry<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+                motors__ = input.readMessage(
+                    MotorsDefaultEntryHolder.defaultEntry.getParserForType(), extensionRegistry);
+                internalGetMutableMotors().getMutableMap().put(
+                    motors__.getKey(), motors__.getValue());
+                break;
+              } // case 10
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private com.google.protobuf.MapField<
+          java.lang.Integer, cmvr.msgs.Motor.MotorStatus> motors_;
+      private com.google.protobuf.MapField<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+      internalGetMotors() {
+        if (motors_ == null) {
+          return com.google.protobuf.MapField.emptyMapField(
+              MotorsDefaultEntryHolder.defaultEntry);
+        }
+        return motors_;
+      }
+      private com.google.protobuf.MapField<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+      internalGetMutableMotors() {
+        onChanged();;
+        if (motors_ == null) {
+          motors_ = com.google.protobuf.MapField.newMapField(
+              MotorsDefaultEntryHolder.defaultEntry);
+        }
+        if (!motors_.isMutable()) {
+          motors_ = motors_.copy();
+        }
+        return motors_;
+      }
+
+      public int getMotorsCount() {
+        return internalGetMotors().getMap().size();
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+
+      @java.lang.Override
+      public boolean containsMotors(
+          int key) {
+        
+        return internalGetMotors().getMap().containsKey(key);
+      }
+      /**
+       * Use {@link #getMotorsMap()} instead.
+       */
+      @java.lang.Override
+      @java.lang.Deprecated
+      public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> getMotors() {
+        return getMotorsMap();
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+      @java.lang.Override
+
+      public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> getMotorsMap() {
+        return internalGetMotors().getMap();
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+      @java.lang.Override
+
+      public cmvr.msgs.Motor.MotorStatus getMotorsOrDefault(
+          int key,
+          cmvr.msgs.Motor.MotorStatus defaultValue) {
+        
+        java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> map =
+            internalGetMotors().getMap();
+        return map.containsKey(key) ? map.get(key) : defaultValue;
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+      @java.lang.Override
+
+      public cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
+          int key) {
+        
+        java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> map =
+            internalGetMotors().getMap();
+        if (!map.containsKey(key)) {
+          throw new java.lang.IllegalArgumentException();
+        }
+        return map.get(key);
+      }
+
+      public Builder clearMotors() {
+        internalGetMutableMotors().getMutableMap()
+            .clear();
+        return this;
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+
+      public Builder removeMotors(
+          int key) {
+        
+        internalGetMutableMotors().getMutableMap()
+            .remove(key);
+        return this;
+      }
+      /**
+       * Use alternate mutation accessors instead.
+       */
+      @java.lang.Deprecated
+      public java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus>
+      getMutableMotors() {
+        return internalGetMutableMotors().getMutableMap();
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+      public Builder putMotors(
+          int key,
+          cmvr.msgs.Motor.MotorStatus value) {
+        
+        if (value == null) {
+  throw new NullPointerException("map value");
+}
+
+        internalGetMutableMotors().getMutableMap()
+            .put(key, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * key 电机 nodeid
+       * </pre>
+       *
+       * <code>map&lt;uint32, .cmvr.msgs.MotorStatus&gt; motors = 1;</code>
+       */
+
+      public Builder putAllMotors(
+          java.util.Map<java.lang.Integer, cmvr.msgs.Motor.MotorStatus> values) {
+        internalGetMutableMotors().getMutableMap()
+            .putAll(values);
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.msgs.RobotDetail)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.RobotDetail)
+    private static final cmvr.msgs.RobotDetailOuterClass.RobotDetail DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.RobotDetailOuterClass.RobotDetail();
+    }
+
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<RobotDetail>
+        PARSER = new com.google.protobuf.AbstractParser<RobotDetail>() {
+      @java.lang.Override
+      public RobotDetail parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser<RobotDetail> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<RobotDetail> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_RobotDetail_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_RobotDetail_MotorsEntry_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\034cmvr/msgs/robot_detail.proto\022\tcmvr.msg" +
+      "s\032\025cmvr/msgs/motor.proto\"\210\001\n\013RobotDetail" +
+      "\0222\n\006motors\030\001 \003(\0132\".cmvr.msgs.RobotDetail" +
+      ".MotorsEntry\032E\n\013MotorsEntry\022\013\n\003key\030\001 \001(\r" +
+      "\022%\n\005value\030\002 \001(\0132\026.cmvr.msgs.MotorStatus:" +
+      "\0028\001b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.msgs.Motor.getDescriptor(),
+        });
+    internal_static_cmvr_msgs_RobotDetail_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_RobotDetail_descriptor,
+        new java.lang.String[] { "Motors", });
+    internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor =
+      internal_static_cmvr_msgs_RobotDetail_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_msgs_RobotDetail_MotorsEntry_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor,
+        new java.lang.String[] { "Key", "Value", });
+    cmvr.msgs.Motor.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}

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

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

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

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

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

@@ -20,4 +20,7 @@ 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);
 }

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

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

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

@@ -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 {
+    message Request {
-    CommandHeader.Request header = 1;   // 通用命令头
+        CommandHeader.Request header = 1;   // 通用命令头
-    FacialExpression expr =  2;         // 执行
+        FacialExpression expr =  2;         // 执行
-    bool eof = 3;                       // 标记是否为流结束
+        bool eof = 3;                       // 标记是否为流结束
-  }
+    }
 
-  message Feedback {
+    message Feedback {
-    CommandHeader.Feedback header = 1;  // 通用反馈头
+        CommandHeader.Feedback header = 1;  // 通用反馈头
-    FacialExpression expr_diff = 2;     // 执行误差
+        FacialExpression expr_diff = 2;     // 执行误差
-  }
+    }
 }
 
 /**
@@ -267,3 +267,4 @@ message ExpressionYawn {
 
 
 
+

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

@@ -5,36 +5,43 @@ 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
+    // 设置面部表情
-  rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){};
+    rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){};
 
-  // 流式表情控制
+    // 流式表情控制
-  //rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){};
+    //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
+    // 获取状态
-  rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
+    rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
 
-  // 紧急停止
+    // 紧急停止
-  rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){};
+    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){};
 
-  // 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){};
 
 }

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

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

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

@@ -14,6 +14,7 @@ service CameraService {
     rpc GetRGBDImages(GetRGBDImagesCommand.Request) returns (GetRGBDImagesCommand.Feedback) {}
     rpc StartRecording(StartCameraRecordingCommand.Request) returns (StartCameraRecordingCommand.Feedback) {}
     rpc StopRecording(StopCameraRecordingCommand.Request) returns (StopCameraRecordingCommand.Feedback) {}
+    rpc ControlPtz(ControlPtzCommand.Request) returns (ControlPtzCommand.Feedback) {}
 
     rpc GetRGBImageStream(stream GetRGBImageStreamCommand.Request) returns (stream GetRGBImageStreamCommand.Feedback) {}
     rpc GetDepthImageStream(stream GetDepthImageStreamCommand.Request) returns (stream GetDepthImageStreamCommand.Feedback) {}

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

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

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

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

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

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

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

@@ -0,0 +1,151 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+import "cmvr/msgs/motor.proto";
+
+// Selects exactly one motor inside the MotorManager named by header.device_id.
+message MotorTarget {
+  CommandHeader.Request header = 1;
+  oneof selector {
+    uint32 motor_id = 2;
+    string joint_name = 3;
+  }
+}
+
+message MotorWaitOptions {
+  // Zero selects the server default (30 seconds).
+  uint32 timeout_ms = 1;
+  // Zero selects the server default (10 milliseconds).
+  uint32 poll_period_ms = 2;
+  // Zero selects the server default.
+  double position_tolerance_rad = 3;
+  double velocity_tolerance_rad_s = 4;
+  // Number of consecutive in-tolerance samples. Zero selects the default (3).
+  uint32 settle_sample_count = 5;
+}
+
+enum MotorControlType {
+  MOTOR_CONTROL_NONE = 0;
+  MOTOR_CONTROL_SET_ZERO = 1;
+  MOTOR_CONTROL_PROFILE_POSITION = 2;
+  MOTOR_CONTROL_PROFILE_VELOCITY = 3;
+  MOTOR_CONTROL_CYCLIC_POSITION = 4;
+  MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
+  MOTOR_CONTROL_SET_ENABLED = 6;
+}
+
+message MotorStatus {
+  uint32 motor_id = 1;
+  string joint_name = 2;
+  cmvr.msgs.RunMode run_mode = 3;
+  double position_rad = 4;
+  double velocity_rad_s = 5;
+  bool target_reached = 6;
+  bool service_busy = 7;
+  MotorControlType active_control = 8;
+  bool emergency_stopped = 9;
+  string last_error = 10;
+}
+
+message MotorCommandResponse {
+  CommandHeader.Feedback header = 1;
+  MotorStatus status = 2;
+  uint64 elapsed_ms = 3;
+}
+
+message SetMotorZeroRequest {
+  MotorTarget target = 1;
+}
+
+message MoveMotorToZeroRequest {
+  MotorTarget target = 1;
+  double max_velocity_rad_s = 2;
+  double acceleration_rad_s2 = 3;
+  MotorWaitOptions wait = 4;
+}
+
+message ProfilePositionRequest {
+  MotorTarget target = 1;
+  double target_position_rad = 2;
+  double max_velocity_rad_s = 3;
+  double acceleration_rad_s2 = 4;
+  MotorWaitOptions wait = 5;
+}
+
+message ProfileVelocityRequest {
+  MotorTarget target = 1;
+  double target_velocity_rad_s = 2;
+  double acceleration_rad_s2 = 3;
+  MotorWaitOptions wait = 4;
+}
+
+message EmergencyStopRequest {
+  MotorTarget target = 1;
+}
+
+message GetMotorStatusRequest {
+  MotorTarget target = 1;
+}
+
+message GetMotorStatusResponse {
+  CommandHeader.Feedback header = 1;
+  MotorStatus status = 2;
+}
+
+message SetMotorEnabledRequest {
+  MotorTarget target = 1;
+  bool enabled = 2;
+}
+
+message CyclicStreamOpen {
+  MotorTarget target = 1;
+  // The 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;
+}

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

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

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

@@ -21,6 +21,77 @@ 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 {}
 

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

@@ -8,6 +8,7 @@ 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) {}