fix system status device metadata
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@ -11,6 +11,79 @@
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using namespace cmvr::device;
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using namespace cmvr::service;
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namespace {
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namespace device = cmvr::device;
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cmvr::api::DeviceType toApiDeviceType(device::DeviceKind kind)
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{
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switch (kind) {
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case device::DeviceKind::AGV: return cmvr::api::DeviceType::AGV;
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case device::DeviceKind::Arm:
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case device::DeviceKind::Robot: return cmvr::api::DeviceType::Robot;
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case device::DeviceKind::Battery: return cmvr::api::DeviceType::Battery;
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case device::DeviceKind::BioHead: return cmvr::api::DeviceType::BioHead;
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case device::DeviceKind::Camera: return cmvr::api::DeviceType::Camera;
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case device::DeviceKind::CanBus: return cmvr::api::DeviceType::CanBus;
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case device::DeviceKind::DexHand: return cmvr::api::DeviceType::DexHand;
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case device::DeviceKind::Gripper: return cmvr::api::DeviceType::Gripper;
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case device::DeviceKind::Microphone: return cmvr::api::DeviceType::Microphone;
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case device::DeviceKind::Motor: return cmvr::api::DeviceType::Motor;
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case device::DeviceKind::MotorSystem: return cmvr::api::DeviceType::MotorSystem;
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case device::DeviceKind::MujocoViewer: return cmvr::api::DeviceType::MujocoViewer;
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case device::DeviceKind::MujocoWorld: return cmvr::api::DeviceType::MujocoWorld;
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case device::DeviceKind::Speaker: return cmvr::api::DeviceType::Speaker;
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case device::DeviceKind::Unknown:
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default: return cmvr::api::DeviceType::Unknown;
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}
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}
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cmvr::api::DeviceKind toApiDeviceKind(device::DeviceKind kind)
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{
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switch (kind) {
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case device::DeviceKind::AGV: return cmvr::api::DEVICE_KIND_AGV;
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case device::DeviceKind::Arm: return cmvr::api::DEVICE_KIND_ARM;
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case device::DeviceKind::Battery: return cmvr::api::DEVICE_KIND_BATTERY;
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case device::DeviceKind::BioHead: return cmvr::api::DEVICE_KIND_BIO_HEAD;
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case device::DeviceKind::Camera: return cmvr::api::DEVICE_KIND_CAMERA;
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case device::DeviceKind::CanBus: return cmvr::api::DEVICE_KIND_CAN_BUS;
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case device::DeviceKind::DexHand: return cmvr::api::DEVICE_KIND_DEX_HAND;
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case device::DeviceKind::Gripper: return cmvr::api::DEVICE_KIND_GRIPPER;
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case device::DeviceKind::Microphone: return cmvr::api::DEVICE_KIND_MICROPHONE;
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case device::DeviceKind::Motor: return cmvr::api::DEVICE_KIND_MOTOR;
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case device::DeviceKind::MotorSystem: return cmvr::api::DEVICE_KIND_MOTOR_SYSTEM;
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case device::DeviceKind::MujocoViewer: return cmvr::api::DEVICE_KIND_MUJOCO_VIEWER;
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case device::DeviceKind::MujocoWorld: return cmvr::api::DEVICE_KIND_MUJOCO_WORLD;
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case device::DeviceKind::Robot: return cmvr::api::DEVICE_KIND_ROBOT;
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case device::DeviceKind::Speaker: return cmvr::api::DEVICE_KIND_SPEAKER;
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case device::DeviceKind::Unknown:
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default: return cmvr::api::DEVICE_KIND_UNKNOWN;
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}
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}
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std::string vendorForDriverType(const std::string& driver_type)
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{
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if (driver_type == "AuboARM") return "AUBO";
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if (driver_type == "HuayanRobot") return "HUAYAN";
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if (driver_type == "SeerRobokitAgv") return "SEER";
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if (driver_type == "HikvisionCamera") return "HIKVISION";
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if (driver_type == "RealSenseCamera") return "Intel RealSense";
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if (driver_type == "MechmindCamera") return "Mech-Mind";
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if (driver_type == "RH56DFTPDexhand") return "Inspire Robots";
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if (driver_type == "ZeroSimTouchDexHand") return "ZeroSim";
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if (driver_type == "EyouMotor") return "EYOU";
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if (driver_type == "Ti5Motor") return "TI5";
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if (driver_type == "MujocoMotor" || driver_type == "MujocoCamera") return "MuJoCo";
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if (driver_type == "MyAgv" || driver_type == "MotorRobotArm"
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|| driver_type == "BioHeadRobot") return "CMVR";
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if (driver_type == "FFMpegMicroPhone" || driver_type == "FFMpegSpeaker") return "FFmpeg";
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if (driver_type == "UVCCamera") return "UVC";
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if (driver_type == "PX6AXGen3") return "PX6AX";
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return {};
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}
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} // namespace
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gRPCSystemServiceImpl::gRPCSystemServiceImpl()
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: dmgr_(DeviceManager::getInstance()),
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action_queue_(std::make_unique<ActionQueue>(
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@ -56,38 +129,14 @@ grpc::Status gRPCSystemServiceImpl::GetSystemStatus(grpc::ServerContext* context
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const api::GetSystemStatusCommand_Request* request, api::GetSystemStatusCommand_Feedback* response)
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{
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try {
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std::list<std::pair<std::string, std::string>> dev_list;
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dmgr_.getDeviceList(dev_list);
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for (auto &pair: dev_list) {
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const auto snapshot = dmgr_.snapshot();
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for (const auto& device : snapshot.devices) {
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auto* dev = response->add_device_list();
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dev->set_device_id(pair.first);
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if (pair.second == "AGV") {
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dev->set_device_type(api::DeviceType::AGV);
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}
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else if (pair.second == "Battery") {
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dev->set_device_type(api::DeviceType::Battery);
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}
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else if (pair.second == "Camera") {
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dev->set_device_type(api::DeviceType::Camera);
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}
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else if (pair.second == "DexHand") {
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dev->set_device_type(api::DeviceType::DexHand);
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}
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else if (pair.second == "Gripper") {
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dev->set_device_type(api::DeviceType::Gripper);
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}
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else if (pair.second == "Microphone") {
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dev->set_device_type(api::DeviceType::Microphone);
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}
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else if (pair.second == "Robot") {
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dev->set_device_type(api::DeviceType::Robot);
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}
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else if (pair.second == "Speaker") {
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dev->set_device_type(api::DeviceType::Speaker);
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}
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else if (pair.second == "Unknown") {
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dev->set_device_type(api::DeviceType::Unknown);
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}
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dev->set_device_id(device.id);
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dev->set_device_type(toApiDeviceType(device.kind));
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dev->set_device_kind(toApiDeviceKind(device.kind));
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dev->set_driver_type(device.type_name);
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dev->set_vendor(vendorForDriverType(device.type_name));
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}
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response->mutable_header()->set_success(true);
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setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
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@ -14,12 +14,43 @@ enum DeviceType {
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Microphone = 5;
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Robot = 6;
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Speaker = 7;
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BioHead = 8;
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Motor = 9;
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MotorSystem = 10;
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MujocoWorld = 11;
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MujocoViewer = 12;
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CanBus = 13;
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Unknown = 20;
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}
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// 设备在 cmvr-es 运行时中的稳定大类，与具体厂商驱动无关。
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enum DeviceKind {
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DEVICE_KIND_UNKNOWN = 0;
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DEVICE_KIND_AGV = 1;
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DEVICE_KIND_ARM = 2;
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DEVICE_KIND_BATTERY = 3;
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DEVICE_KIND_BIO_HEAD = 4;
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DEVICE_KIND_CAMERA = 5;
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DEVICE_KIND_CAN_BUS = 6;
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DEVICE_KIND_DEX_HAND = 7;
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DEVICE_KIND_GRIPPER = 8;
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DEVICE_KIND_MICROPHONE = 9;
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DEVICE_KIND_MOTOR = 10;
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DEVICE_KIND_MOTOR_SYSTEM = 11;
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DEVICE_KIND_MUJOCO_VIEWER = 12;
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DEVICE_KIND_MUJOCO_WORLD = 13;
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DEVICE_KIND_ROBOT = 14;
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DEVICE_KIND_SPEAKER = 15;
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}
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message DeviceList {
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string device_id = 1;
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DeviceType device_type = 2;
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DeviceKind device_kind = 3;
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// 具体运行时驱动类型，例如 AuboARM、HuayanRobot、SeerRobokitAgv。
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string driver_type = 4;
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// 厂商或驱动生态，例如 AUBO、HUAYAN、SEER。
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string vendor = 5;
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}
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message GetSystemInfoCommand {
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