merge xtkuang_dev into dev

.gitignore

@@ -7,3 +7,15 @@
 /third_party/osqp/
 /third_party/OsqpEigen/
 /output
+
+# Generated development artifacts
+compile_commands.json
+MUJOCO_LOG.TXT
+__pycache__/
+*.py[cod]
+*.log
+
+# Generated plots and vision debug output
+/data/*.png
+/data/*.svg
+/python/vision_servo/red_point.png

MUJOCO_LOG.TXT

@@ -1,6 +0,0 @@
-Fri Jul 24 15:39:05 2026
-ERROR: could not create window
-
-Fri Jul 24 15:40:37 2026
-ERROR: could not create window
-

cmvr-es/CMakeLists.txt

@@ -6,6 +6,8 @@ add_subdirectory(hardware)
 add_subdirectory(algorithms)
 add_subdirectory(simulate)
 add_subdirectory(devices)
+add_subdirectory(manager/control_authority_manager)
+add_subdirectory(manager/safety_manager)
 add_subdirectory(manager/device_manager)
 add_subdirectory(manager/media_source_hub)
 add_subdirectory(service/quic_edge)

cmvr-es/algorithms/controllers/ume_legacy/CMakeLists.txt

@@ -0,0 +1,22 @@
+add_library(ume_legacy_controller SHARED
+        src/ume_legacy_controller.cpp
+        src/pinocchio_ume_legacy_model_adapter.cpp
+)
+
+target_include_directories(ume_legacy_controller
+        PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+target_link_libraries(ume_legacy_controller
+        PRIVATE
+        pinocchio_default
+        pinocchio_parsers
+)
+
+add_library(
+        cmvr_es::algorithms::ume_legacy
+        ALIAS ume_legacy_controller
+)
+
+install(TARGETS ume_legacy_controller LIBRARY DESTINATION lib)

cmvr-es/common/CMakeLists.txt

@@ -28,26 +28,3 @@ target_link_libraries(common PUBLIC
 
 add_library(cmvr_es::common ALIAS common)
 install(TARGETS common LIBRARY DESTINATION lib)
-
-add_executable(support_functions_test
-        math/support_functions_test.cpp
-)
-target_include_directories(support_functions_test PRIVATE ${CMAKE_SOURCE_DIR}/cmvr-es)
-target_link_libraries(support_functions_test PRIVATE gtest gtest_main glog)
-
-#add_executable(image_display_test
-#        utils/visualization/image_display_test.cpp
-#)
-#
-#target_link_libraries(image_display_test
-#        PRIVATE
-#        cmvr_es::common
-#        cmvr_es::perception
-#        cmvr_es::device::realsense_camera
-#        cmvr_es::proto
-#        glog
-#        gtest
-#        gtest_main
-#        pthread
-#)
-#

cmvr-es/common/types/agv/agv_types.h

@@ -2,6 +2,7 @@
 #define CMVR_ES_AGV_TYPES_H
 
 #include <cstdint>
+#include <functional>
 #include <optional>
 #include <string>
 #include <unordered_map>
@@ -90,6 +91,14 @@ enum class AgvTaskType {
     Custom
 };
 
+/**
+ * @brief 固定距离平移使用的距离参考模式。
+ */
+enum class AgvTranslationMode {
+    Odometry = 0,
+    Localization
+};
+
 /**
  * @brief AGV 车体坐标系下的平面速度。
  *
@@ -101,6 +110,20 @@ struct AgvVelocity {
     double wz{0.0};
 };
 
+
+
+/**
+ * @brief AGV 车体坐标系下的固定距离平移参数。
+ */
+struct AgvTranslation {
+    double distance{0.0};
+    double vx{0.0};
+    double vy{0.0};
+    AgvTranslationMode mode{AgvTranslationMode::Odometry};
+};
+
+
+
 /**
  * @brief 导航通用运动约束和执行选项。
  *
@@ -114,7 +137,14 @@ struct AgvMotionOptions {
     double reach_distance{0.0};
     double reach_angle{0.0};
     double speed_ratio{1.0};
-    bool asynchronous{true};
+    // 导航默认同步阻塞；调用方只有显式设为 true 才在任务接受后立即返回。
+    bool asynchronous{false};
+    int wait_timeout_ms{0};
+    int poll_interval_ms{0};
+    int blocked_timeout_ms{0};
+    // 不带 RPC 框架依赖的取消检查。同步导航等待期间可由
+    // 上层绑定 deadline/cancel；驱动不得在函数返回后保留该回调。
+    std::function<bool()> cancellation_requested;
 };
 
 /**
@@ -220,7 +250,7 @@ struct AgvPathSegment {
 /**
  * @brief AGV 扫图过程中产生的数据文件。
  *
- * content 可保存控制器返回的二进制内容，例如 SRC1100 的 rawmap zip 包。
+ * content 可保存控制器返回的二进制内容，例如 SEER Robokit 的 rawmap zip 包。
  */
 struct AgvMappingDataFile {
     std::string name;

cmvr-es/common/types/arm/arm_types.h

@@ -2,6 +2,7 @@
 #define CMVR_ES_ARM_TYPES_H
 
 #include <cstdint>
+#include <functional>
 #include <string>
 #include <vector>
 
@@ -103,6 +104,11 @@ struct JointGroupState {
     std::vector<double> position;
     std::vector<double> velocity;
     std::vector<double> effort;
+    std::uint64_t sequence{0};
+    std::int64_t sample_monotonic_ns{0};
+    bool position_valid{false};
+    bool velocity_valid{false};
+    bool effort_valid{false};
 
     bool validForModel(const RobotModel& model) const
     {
@@ -112,6 +118,8 @@ struct JointGroupState {
     }
 };
 
+// Kept for compatibility with the existing MotorRobotArm protective-stop
+// recovery contract while the newer safety framework is integrated.
 struct JointTrajectoryPoint {
     double time_s{0.0};
     std::vector<double> position;
@@ -165,6 +173,11 @@ struct MotionOptions {
     double jerk{5.0};
     std::vector<double> joint_velocity_limits;
     bool asynchronous{false};
+    // Framework-independent cancellation check used by queued synchronous
+    // motion. Cancellation after device acceptance retains a typed motion
+    // barrier; the owner must call stopMotion() to confirm physical idle.
+    // Drivers must not retain this callback after moveJ/moveL returns.
+    std::function<bool()> cancellation_requested;
 };
 
 struct ServoOptions {
@@ -173,6 +186,14 @@ struct ServoOptions {
     double gain{300.0};
 };
 
+struct TorqueServoOptions {
+    // The UME legacy loop runs at 800 Hz by default.
+    double period{0.00125};
+    // A producer must continuously refresh the latest torque command. A stale
+    // command latches a fault and disables the actuator chain.
+    std::uint32_t command_watchdog_ms{20};
+};
+
 enum class RobotMode {
     Unknown = 0,
     Disconnected,
@@ -205,6 +226,14 @@ enum class ControlMode {
     Freedrive
 };
 
+enum class JointEffortSource {
+    Unspecified = 0,
+    MotorEstimate,
+    JointSensor,
+    ForceTorqueSensor,
+    Observer
+};
+
 struct ArmState {
     double timestamp{0.0};
     RobotMode robot_mode{RobotMode::Unknown};

cmvr-es/common/vision/image_display.h

@@ -1,609 +0,0 @@
-#pragma once
-
-#include <algorithm>
-#include <cstdint>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <opencv2/core.hpp>
-#include <opencv2/highgui.hpp>
-#include <opencv2/imgproc.hpp>
-
-namespace cmvr::common {
-
-/**
- * @brief 图像像素坐标。
- *
- * 坐标系约定：
- * - `u`：图像列坐标，向右为正，单位像素。
- * - `v`：图像行坐标，向下为正，单位像素。
- */
-struct Pixel {
-    int u{0}; // 图像像素列坐标，单位像素。
-    int v{0}; // 图像像素行坐标，单位像素。
-};
-
-/**
- * @brief BGR 颜色定义。
- */
-struct Color {
-    uint8_t b{0}; // 蓝色通道，范围 [0, 255]。
-    uint8_t g{255}; // 绿色通道，范围 [0, 255]。
-    uint8_t r{0}; // 红色通道，范围 [0, 255]。
-
-    /**
-     * @brief 转为 OpenCV 的 `cv::Scalar`。
-     */
-    cv::Scalar toCvScalar() const {
-        return cv::Scalar(static_cast<double>(b),
-                          static_cast<double>(g),
-                          static_cast<double>(r));
-    }
-
-    /**
-     * @brief 预定义红色。
-     */
-    static Color red() { return Color{0, 0, 255}; }
-
-    /**
-     * @brief 预定义绿色。
-     */
-    static Color green() { return Color{0, 255, 0}; }
-
-    /**
-     * @brief 预定义蓝色。
-     */
-    static Color blue() { return Color{255, 0, 0}; }
-
-    /**
-     * @brief 预定义黄色。
-     */
-    static Color yellow() { return Color{0, 255, 255}; }
-
-    /**
-     * @brief 预定义白色。
-     */
-    static Color white() { return Color{255, 255, 255}; }
-
-    /**
-     * @brief 预定义黑色。
-     */
-    static Color black() { return Color{0, 0, 0}; }
-};
-
-/**
- * @brief 图像上的文本叠加配置。
- */
-struct TextOverlay {
-    std::string text; // 需要显示的字符串内容。
-    Pixel position_px{}; // 文本左下角在图像像素坐标系中的位置。
-    Color color{Color::green()}; // 文本颜色。
-    double font_scale{0.7}; // OpenCV 字体缩放系数。
-    int thickness{2}; // 文本线宽，单位像素。
-    int font_face{cv::FONT_HERSHEY_SIMPLEX}; // OpenCV 字体类型。
-    bool draw_background{false}; // 是否绘制文本背景框。
-    Color background_color{Color::black()}; // 文本背景框颜色。
-    int background_padding_px{2}; // 文本背景框四周留白，单位像素。
-};
-
-/**
- * @brief 图像上的点叠加配置。
- */
-struct PointOverlay {
-    Pixel position_px{}; // 点中心在图像像素坐标系中的位置。
-    Color color{Color::red()}; // 点颜色。
-    int radius_px{5}; // 圆点半径，单位像素。
-    int thickness{2}; // 线宽，`-1` 表示填充。
-    std::string label; // 点旁边附带显示的字符串；为空时不显示。
-    Pixel label_offset_px{8, -8}; // 标签相对点中心的像素偏移。
-    double label_font_scale{0.6}; // 点标签字体缩放系数。
-    int label_thickness{2}; // 点标签线宽，单位像素。
-};
-
-/**
- * @brief 图像上的圆圈叠加配置。
- */
-struct CircleOverlay {
-    Pixel center_px{}; // 圆心在图像像素坐标系中的位置。
-    int radius_px{10}; // 圆半径，单位像素。
-    Color color{Color::yellow()}; // 圆圈颜色。
-    int thickness{2}; // 圆圈线宽，单位像素，`-1` 表示填充。
-};
-
-/**
- * @brief 图像上的十字叠加配置。
- */
-struct CrossOverlay {
-    Pixel center_px{}; // 十字中心在图像像素坐标系中的位置。
-    int arm_length_px{8}; // 单侧十字臂长度，单位像素。
-    Color color{Color::blue()}; // 十字颜色。
-    int thickness{2}; // 十字线宽，单位像素。
-};
-
-/**
- * @brief 通用图像叠加显示接口。
- *
- * 该接口不依赖任何感知或跟踪类，只抽象三类输入：
- * - 待显示的图像数据；
- * - 文本叠加项；
- * - 点叠加项。
- */
-class ImageDisplay {
-public:
-    virtual ~ImageDisplay() = default;
-
-    /**
-     * @brief 设置窗口名称。
-     * @param window_name 显示窗口名称。
-     */
-    virtual void setWindowName(const std::string& window_name) = 0;
-
-    /**
-     * @brief 设置待显示的图像。
-     * @param image 输入图像，支持灰度图、BGR 图或 BGRA 图。
-     */
-    virtual void setImage(const cv::Mat& image) = 0;
-
-    /**
-     * @brief 清空所有叠加项，但保留当前图像。
-     */
-    virtual void clearOverlays() = 0;
-
-    /**
-     * @brief 添加文本叠加项。
-     * @param overlay 文本叠加配置。
-     */
-    virtual void showText(const TextOverlay& overlay) = 0;
-
-    /**
-     * @brief 按位置、字符串、颜色和大小直接添加文本。
-     * @param text 需要显示的字符串内容。
-     * @param position_px 文本左下角在图像像素坐标系中的位置。
-     * @param color 文本颜色。
-     * @param font_scale OpenCV 字体缩放系数。
-     * @param thickness 文本线宽，单位像素。
-     */
-    virtual void showText(const std::string& text,
-                          const Pixel& position_px,
-                          const Color& color,
-                          double font_scale = 0.7,
-                          int thickness = 2) = 0;
-
-    /**
-     * @brief 添加点叠加项。
-     * @param overlay 点叠加配置。
-     */
-    virtual void showPoint(const PointOverlay& overlay) = 0;
-
-    /**
-     * @brief 按位置、颜色和大小直接添加点。
-     * @param position_px 点中心在图像像素坐标系中的位置。
-     * @param color 点颜色。
-     * @param radius_px 圆点半径，单位像素。
-     * @param thickness 线宽，`-1` 表示填充。
-     * @param label 点旁边附带显示的字符串；为空时不显示。
-     */
-    virtual void showPoint(const Pixel& position_px,
-                           const Color& color,
-                           int radius_px = 5,
-                           int thickness = 2,
-                           const std::string& label = {}) = 0;
-
-    /**
-     * @brief 显示圆圈叠加项。
-     * @param overlay 圆圈叠加配置。
-     */
-    virtual void showCircle(const CircleOverlay& overlay) = 0;
-
-    /**
-     * @brief 按位置、半径、颜色和线宽直接显示圆圈。
-     * @param center_px 圆心在图像像素坐标系中的位置。
-     * @param radius_px 圆半径，单位像素。
-     * @param color 圆圈颜色。
-     * @param thickness 圆圈线宽，单位像素，`-1` 表示填充。
-     */
-    virtual void showCircle(const Pixel& center_px,
-                            int radius_px,
-                            const Color& color,
-                            int thickness = 2) = 0;
-
-    /**
-     * @brief 显示十字叠加项。
-     * @param overlay 十字叠加配置。
-     */
-    virtual void showCross(const CrossOverlay& overlay) = 0;
-
-    /**
-     * @brief 按位置、尺寸、颜色和线宽直接显示十字。
-     * @param center_px 十字中心在图像像素坐标系中的位置。
-     * @param arm_length_px 单侧十字臂长度，单位像素。
-     * @param color 十字颜色。
-     * @param thickness 十字线宽，单位像素。
-     */
-    virtual void showCross(const Pixel& center_px,
-                           int arm_length_px,
-                           const Color& color,
-                           int thickness = 2) = 0;
-
-    /**
-     * @brief 判断当前是否已有待显示图像。
-     */
-    virtual bool hasImage() const = 0;
-
-    /**
-     * @brief 将当前图像和叠加项渲染到输出图像。
-     * @param rendered_image 输出的渲染结果图像，BGR 三通道。
-     * @return 渲染成功返回 `true`。
-     */
-    virtual bool render(cv::Mat& rendered_image) const = 0;
-
-    /**
-     * @brief 显示当前渲染结果。
-     * @param wait_key_ms `cv::waitKey` 等待时间，单位毫秒。
-     * @return 返回 `cv::waitKey` 的按键值；若没有可显示图像则返回 `-1`。
-     */
-    virtual int show(int wait_key_ms = 1) = 0;
-
-    /**
-     * @brief 关闭显示窗口。
-     */
-    virtual void close() = 0;
-};
-
-/**
- * @brief 基于 OpenCV HighGUI 的图像叠加显示实现。
- */
-class OpenCvImageCvDisplay final : public ImageDisplay {
-public:
-    /**
-     * @brief 构造显示器。
-     * @param window_name 显示窗口名称。
-     */
-    explicit OpenCvImageCvDisplay(std::string window_name = "image_overlay")
-        : window_name_(std::move(window_name)) {}
-
-    /**
-     * @brief 设置窗口名称。
-     * @param window_name 显示窗口名称。
-     */
-    void setWindowName(const std::string& window_name) override {
-        window_name_ = window_name;
-    }
-
-    /**
-     * @brief 设置待显示图像。
-     * @param image 输入图像，支持灰度图、BGR 图或 BGRA 图。
-     */
-    void setImage(const cv::Mat& image) override {
-        image_ = image.clone();
-    }
-
-    /**
-     * @brief 清空所有叠加项，但保留当前图像。
-     */
-    void clearOverlays() override {
-        texts_.clear();
-        points_.clear();
-        circles_.clear();
-        crosses_.clear();
-    }
-
-    /**
-     * @brief 添加文本叠加项。
-     * @param overlay 文本叠加配置。
-     */
-    void showText(const TextOverlay& overlay) override {
-        texts_.push_back(overlay);
-    }
-
-    /**
-     * @brief 按位置、字符串、颜色和大小直接添加文本。
-     * @param text 需要显示的字符串内容。
-     * @param position_px 文本左下角在图像像素坐标系中的位置。
-     * @param color 文本颜色。
-     * @param font_scale OpenCV 字体缩放系数。
-     * @param thickness 文本线宽，单位像素。
-     */
-    void showText(const std::string& text,
-                  const Pixel& position_px,
-                  const Color& color,
-                  double font_scale = 0.7,
-                  int thickness = 2) override {
-        TextOverlay overlay;
-        overlay.text = text;
-        overlay.position_px = position_px;
-        overlay.color = color;
-        overlay.font_scale = font_scale;
-        overlay.thickness = thickness;
-        showText(overlay);
-    }
-
-    /**
-     * @brief 添加点叠加项。
-     * @param overlay 点叠加配置。
-     */
-    void showPoint(const PointOverlay& overlay) override {
-        points_.push_back(overlay);
-    }
-
-    /**
-     * @brief 按位置、颜色和大小直接添加点。
-     * @param position_px 点中心在图像像素坐标系中的位置。
-     * @param color 点颜色。
-     * @param radius_px 圆点半径，单位像素。
-     * @param thickness 线宽，`-1` 表示填充。
-     * @param label 点旁边附带显示的字符串；为空时不显示。
-     */
-    void showPoint(const Pixel& position_px,
-                   const Color& color,
-                   int radius_px = 5,
-                   int thickness = 2,
-                   const std::string& label = {}) override {
-        PointOverlay overlay;
-        overlay.position_px = position_px;
-        overlay.color = color;
-        overlay.radius_px = radius_px;
-        overlay.thickness = thickness;
-        overlay.label = label;
-        showPoint(overlay);
-    }
-
-    /**
-     * @brief 显示圆圈叠加项。
-     * @param overlay 圆圈叠加配置。
-     */
-    void showCircle(const CircleOverlay& overlay) override {
-        circles_.push_back(overlay);
-    }
-
-    /**
-     * @brief 按位置、半径、颜色和线宽直接显示圆圈。
-     * @param center_px 圆心在图像像素坐标系中的位置。
-     * @param radius_px 圆半径，单位像素。
-     * @param color 圆圈颜色。
-     * @param thickness 圆圈线宽，单位像素，`-1` 表示填充。
-     */
-    void showCircle(const Pixel& center_px,
-                    int radius_px,
-                    const Color& color,
-                    int thickness = 2) override {
-        CircleOverlay overlay;
-        overlay.center_px = center_px;
-        overlay.radius_px = radius_px;
-        overlay.color = color;
-        overlay.thickness = thickness;
-        showCircle(overlay);
-    }
-
-    /**
-     * @brief 显示十字叠加项。
-     * @param overlay 十字叠加配置。
-     */
-    void showCross(const CrossOverlay& overlay) override {
-        crosses_.push_back(overlay);
-    }
-
-    /**
-     * @brief 按位置、尺寸、颜色和线宽直接显示十字。
-     * @param center_px 十字中心在图像像素坐标系中的位置。
-     * @param arm_length_px 单侧十字臂长度，单位像素。
-     * @param color 十字颜色。
-     * @param thickness 十字线宽，单位像素。
-     */
-    void showCross(const Pixel& center_px,
-                   int arm_length_px,
-                   const Color& color,
-                   int thickness = 2) override {
-        CrossOverlay overlay;
-        overlay.center_px = center_px;
-        overlay.arm_length_px = arm_length_px;
-        overlay.color = color;
-        overlay.thickness = thickness;
-        showCross(overlay);
-    }
-
-    /**
-     * @brief 判断当前是否已有待显示图像。
-     */
-    bool hasImage() const override {
-        return !image_.empty();
-    }
-
-    /**
-     * @brief 将当前图像和叠加项渲染到输出图像。
-     * @param rendered_image 输出的渲染结果图像，BGR 三通道。
-     * @return 渲染成功返回 `true`。
-     */
-    bool render(cv::Mat& rendered_image) const override {
-        if (!toBgrImage(image_, rendered_image)) {
-            return false;
-        }
-
-        for (const CircleOverlay& overlay : circles_) {
-            drawCircle(rendered_image, overlay);
-        }
-        for (const CrossOverlay& overlay : crosses_) {
-            drawCross(rendered_image, overlay);
-        }
-        for (const PointOverlay& overlay : points_) {
-            drawPoint(rendered_image, overlay);
-        }
-        for (const TextOverlay& overlay : texts_) {
-            drawText(rendered_image, overlay);
-        }
-        return true;
-    }
-
-    /**
-     * @brief 显示当前渲染结果。
-     * @param wait_key_ms `cv::waitKey` 等待时间，单位毫秒。
-     * @return 返回 `cv::waitKey` 的按键值；若没有可显示图像则返回 `-1`。
-     */
-    int show(int wait_key_ms = 1) override {
-        cv::Mat rendered_image;
-        if (!render(rendered_image)) {
-            return -1;
-        }
-
-        if (!window_created_) {
-            cv::namedWindow(window_name_, cv::WINDOW_NORMAL);
-            window_created_ = true;
-        }
-        cv::imshow(window_name_, rendered_image);
-        return cv::waitKey(wait_key_ms);
-    }
-
-    /**
-     * @brief 关闭显示窗口。
-     */
-    void close() override {
-        if (!window_created_) {
-            return;
-        }
-        cv::destroyWindow(window_name_);
-        window_created_ = false;
-    }
-
-private:
-    /**
-     * @brief 将输入图像转换为可叠加绘制的 BGR 三通道图像。
-     * @param input 输入图像。
-     * @param output 输出 BGR 图像。
-     * @return 转换成功返回 `true`。
-     */
-    static bool toBgrImage(const cv::Mat& input, cv::Mat& output) {
-        if (input.empty()) {
-            return false;
-        }
-
-        if (input.channels() == 1) {
-            cv::cvtColor(input, output, cv::COLOR_GRAY2BGR);
-            return true;
-        }
-        if (input.channels() == 3) {
-            output = input.clone();
-            return true;
-        }
-        if (input.channels() == 4) {
-            cv::cvtColor(input, output, cv::COLOR_BGRA2BGR);
-            return true;
-        }
-        return false;
-    }
-
-    /**
-     * @brief 在图像上绘制文本叠加项。
-     * @param image 目标图像，BGR 三通道。
-     * @param overlay 文本叠加配置。
-     */
-    static void drawText(cv::Mat& image, const TextOverlay& overlay) {
-        const cv::Point origin(overlay.position_px.u, overlay.position_px.v);
-        const int thickness = std::max(1, overlay.thickness);
-        const double font_scale = std::max(0.0, overlay.font_scale);
-
-        if (overlay.draw_background) {
-            int baseline = 0;
-            const cv::Size text_size = cv::getTextSize(overlay.text,
-                                                       overlay.font_face,
-                                                       font_scale,
-                                                       thickness,
-                                                       &baseline);
-            const int pad = std::max(0, overlay.background_padding_px);
-            const cv::Point top_left(origin.x - pad, origin.y - text_size.height - pad);
-            const cv::Point bottom_right(origin.x + text_size.width + pad, origin.y + baseline + pad);
-            cv::rectangle(image,
-                          top_left,
-                          bottom_right,
-                          overlay.background_color.toCvScalar(),
-                          cv::FILLED);
-        }
-
-        cv::putText(image,
-                    overlay.text,
-                    origin,
-                    overlay.font_face,
-                    font_scale,
-                    overlay.color.toCvScalar(),
-                    thickness,
-                    cv::LINE_AA);
-    }
-
-    /**
-     * @brief 在图像上绘制点叠加项。
-     * @param image 目标图像，BGR 三通道。
-     * @param overlay 点叠加配置。
-     */
-    static void drawPoint(cv::Mat& image, const PointOverlay& overlay) {
-        const cv::Point center(overlay.position_px.u, overlay.position_px.v);
-        const int radius = std::max(1, overlay.radius_px);
-        cv::circle(image,
-                   center,
-                   radius,
-                   overlay.color.toCvScalar(),
-                   overlay.thickness,
-                   cv::LINE_AA);
-
-        if (!overlay.label.empty()) {
-            TextOverlay label_overlay;
-            label_overlay.text = overlay.label;
-            label_overlay.position_px = Pixel{center.x + overlay.label_offset_px.u,
-                                              center.y + overlay.label_offset_px.v};
-            label_overlay.color = overlay.color;
-            label_overlay.font_scale = overlay.label_font_scale;
-            label_overlay.thickness = overlay.label_thickness;
-            drawText(image, label_overlay);
-        }
-    }
-
-    /**
-     * @brief 在图像上绘制圆圈叠加项。
-     * @param image 目标图像，BGR 三通道。
-     * @param overlay 圆圈叠加配置。
-     */
-    static void drawCircle(cv::Mat& image, const CircleOverlay& overlay) {
-        const cv::Point center(overlay.center_px.u, overlay.center_px.v);
-        const int radius = std::max(1, overlay.radius_px);
-        const int thickness = (overlay.thickness == 0) ? 1 : overlay.thickness;
-        cv::circle(image,
-                   center,
-                   radius,
-                   overlay.color.toCvScalar(),
-                   thickness,
-                   cv::LINE_AA);
-    }
-
-    /**
-     * @brief 在图像上绘制十字叠加项。
-     * @param image 目标图像，BGR 三通道。
-     * @param overlay 十字叠加配置。
-     */
-    static void drawCross(cv::Mat& image, const CrossOverlay& overlay) {
-        const cv::Point center(overlay.center_px.u, overlay.center_px.v);
-        const int arm_length = std::max(1, overlay.arm_length_px);
-        const int thickness = std::max(1, overlay.thickness);
-        const cv::Scalar color = overlay.color.toCvScalar();
-        cv::line(image,
-                 cv::Point(center.x - arm_length, center.y),
-                 cv::Point(center.x + arm_length, center.y),
-                 color,
-                 thickness,
-                 cv::LINE_AA);
-        cv::line(image,
-                 cv::Point(center.x, center.y - arm_length),
-                 cv::Point(center.x, center.y + arm_length),
-                 color,
-                 thickness,
-                 cv::LINE_AA);
-    }
-
-    std::string window_name_; // 显示窗口名称。
-    cv::Mat image_; // 当前待显示图像。
-    std::vector<TextOverlay> texts_; // 当前待绘制的文本叠加列表。
-    std::vector<PointOverlay> points_; // 当前待绘制的点叠加列表。
-    std::vector<CircleOverlay> circles_; // 当前待绘制的圆圈叠加列表。
-    std::vector<CrossOverlay> crosses_; // 当前待绘制的十字叠加列表。
-    bool window_created_{false}; // 显示窗口是否已经创建。
-};
-
-} // namespace cmvr::common

cmvr-es/devices/README.md

@@ -36,13 +36,13 @@ config/cmvr_es.pb.txt
 | 大类 | 抽象接口 | 类别工厂 | 当前可选后端 |
 | --- | --- | --- | --- |
 | Camera | [`camera/abstract_camera.h`](camera/abstract_camera.h) | [`camera/camera_factory.h`](camera/camera_factory.h) | UVC、RealSense、Hikvision |
-| AGV | [`agv/abstract_agv.h`](agv/abstract_agv.h) | [`agv/agv_factory.h`](agv/agv_factory.h) | MyAgv、SRC1100 |
+| AGV | [`agv/abstract_agv.h`](agv/abstract_agv.h) | [`agv/agv_factory.h`](agv/agv_factory.h) | MyAgv、SEER Robokit |
-| RobotArm | [`arm/robot_arm.h`](arm/robot_arm.h) | [`arm/robot_arm_factory.h`](arm/robot_arm_factory.h) | MotorRobotArm、AUBO、Huayan |
+| RobotArm | [`arm/robot_arm.h`](arm/robot_arm.h) | [`arm/robot_arm_factory.h`](arm/robot_arm_factory.h) | MotorRobotArm、[AUBO](arm/aubo_arm/README.md)、Huayan、UME |
 | DexHand | [`dexhand/abstract_dexhand.h`](dexhand/abstract_dexhand.h) | [`dexhand/dexhand_factory.h`](dexhand/dexhand_factory.h) | RH56DFTP、PX6AXGen3 |
 | Microphone | [`microphone/abstract_microphone.h`](microphone/abstract_microphone.h) | [`microphone/microphone_factory.h`](microphone/microphone_factory.h) | FFmpeg |
 | Speaker | [`speaker/abstract_speaker.h`](speaker/abstract_speaker.h) | [`speaker/speaker_factory.h`](speaker/speaker_factory.h) | FFmpeg |
 | BioHead | [`biohead/abstract_biohead.h`](biohead/abstract_biohead.h) | DeviceFactory 直接创建 | BioHeadRobot |
-| MotorSystem | `motor/motor_system/` | DeviceFactory 直接创建 | CAN/MuJoCo motor group |
+| MotorSystem | [`motor/`](motor/README.md) | DeviceFactory 直接创建 | CAN、MuJoCo、EtherCAT |
 
 代码目录存在不等于已经接入配置创建链：
 
@@ -222,7 +222,7 @@ CameraDeviceConfig / AGVDeviceConfig / ... 的外层 id
 
 ## 摄像头与麦克风实时流
 
-设备实现抽象流接口后，由 [`../manager/media_source_hub/`](../manager/media_source_hub/) 适配给 gRPC 和 QUIC，不应在设备后端实现两套协议代码。
+设备实现抽象流接口后，由 [`../manager/media_source_manager/`](../manager/media_source_manager/) 适配给 gRPC 和 QUIC，不应在设备后端实现两套协议代码。
 
 当前 Hub 轨道：
 
@@ -312,7 +312,7 @@ adapter 检测到描述变化后创建新 descriptor，设备后端不要自行
 - 满队列覆盖旧数据是实时媒体的预期行为；
 - `waitEncodedFrame()` 必须有有限 timeout，不能永久阻塞。
 
-MediaSourceHub Subscription 同样是单消费者对象，不同协议或客户端必须各自订阅。
+MediaSourceManager Subscription 同样是单消费者对象，不同协议或客户端必须各自订阅。
 
 发布后的 `MediaFrame`、`TrackDescriptor` 和 payload 不可再修改。
 
@@ -334,19 +334,17 @@ MediaSourceHub Subscription 同样是单消费者对象，不同协议或客户
 无硬件参考测试：
 
 - [`camera/hikvision_camera/tests/hikvision_camera_callback_test.cpp`](camera/hikvision_camera/tests/hikvision_camera_callback_test.cpp)
-- [`../manager/media_source_hub/tests/media_source_hub_test.cpp`](../manager/media_source_hub/tests/media_source_hub_test.cpp)
 
 ```bash
 cmake -S . -B build \
   -DCMVR_ARCH=x86 \
-  -DBUILD_TESTING=ON \
+  -DBUILD_TESTING=ON
-  -DCMVR_MEDIA_SOURCE_HUB_BUILD_TESTS=ON
 
 cmake --build build -j"$(nproc)"
 
 ctest \
   --test-dir build \
-  -R 'hikvision_camera_callback_test|media_source_hub_test' \
+  -R '^hikvision_camera_callback_test$' \
   --output-on-failure
 ```
 

cmvr-es/devices/agv/abstract_agv.h

@@ -15,6 +15,12 @@
 
 namespace cmvr::device {
 
+enum class AgvActionKind {
+    NavigateToPose,
+    NavigateToStation,
+    FollowPath,
+};
+
 /**
  * @brief AGV/移动底盘设备抽象基类。
  *
@@ -29,9 +35,19 @@ public:
     DeviceKind kind() const noexcept override { return DeviceKind::AGV; }
 
     /**
-     * @brief 获取 AGV 运行状态快照。
+     * @brief Whether this backend provides terminal-state and stopped-motion
+     *        confirmation plus bounded cancellation suitable for synchronous
+     *        Action execution.
      */
-    virtual AgvRuntimeState runtimeState() const { return {}; }
+    virtual bool supportsSynchronousAction(AgvActionKind) const noexcept
+                                        {
+                                            return false;
+                                        }
+
+                                        /**
+                                         * @brief 获取 AGV 运行状态快照。
+                                         */
+                                        virtual AgvRuntimeState runtimeState() const { return {}; }
 
     /**
      * @brief 获取当前导航任务状态。
@@ -54,6 +70,13 @@ public:
         return AgvResult::failure(AgvErrorCode::UnsupportedCommand, "clearFault not implemented");
     }
 
+
+    virtual AgvResult relocalize(const math::Pose2d& pose)
+    {
+        (void)pose;
+        return AgvResult::failure(AgvErrorCode::UnsupportedCommand,"relocalize not implemented");
+    }
+
     /**
      * @brief 发起到世界/地图位姿的导航任务。
      */
@@ -85,12 +108,41 @@ public:
     /**
      * @brief 发起显式站点到站点路径导航任务。
      */
-    virtual AgvResult followPath(const std::vector<AgvPathSegment>& path)
+    virtual AgvResult followPath(
+        const std::vector<AgvPathSegment>& path)
     {
         (void)path;
         return AgvResult::failure(AgvErrorCode::UnsupportedCommand, "followPath not implemented");
     }
 
+
+
+    /**
+     * @brief 按指定速度执行固定距离平移。
+     *
+     * 返回成功表示控制器已经接受命令，不表示运动已经完成。
+     */
+    virtual AgvResult translate(const AgvTranslation& translation)
+    {
+        (void)translation;
+        return AgvResult::failure(
+            AgvErrorCode::UnsupportedCommand,
+            "translate not implemented");
+    }
+
+    /**
+     * @brief 发起显式站点到站点路径导航任务，并指定同步/异步选项。
+     *
+     * 保留单参数虚函数以兼容已有派生类；旧实现会由本重载转发。
+     */
+    virtual AgvResult followPath(
+        const std::vector<AgvPathSegment>& path,
+        const AgvMotionOptions& options)
+    {
+        (void)options;
+        return followPath(path);
+    }
+    
     /**
      * @brief 暂停当前导航任务，如果设备支持。
      */
@@ -138,6 +190,19 @@ public:
         return setVelocity(AgvVelocity{});
     }
 
+    /**
+     * @brief 确认 AGV 已进入可安全释放控制权的停止状态。
+     *
+     * 该接口只在导航任务已终止且底盘速度经过连续采样确认为零后返回
+     * 成功；仅收到取消、停止或零速度命令的应答不构成成功。
+     */
+    virtual AgvResult confirmMotionStopped()
+    {
+        return AgvResult::failure(
+            AgvErrorCode::UnsupportedCommand,
+            "confirmMotionStopped not implemented");
+    }
+
     /**
      * @brief 查询 AGV 可用地图名称列表。
      */

cmvr-es/devices/agv/seer_robokit/CMakeLists.txt

@@ -0,0 +1,29 @@
+add_library(seer_robokit_agv SHARED
+        src/seer_robokit_agv.cpp
+        src/seer_robokit_transport.cpp
+        src/seer_robokit_control.cpp
+        src/seer_robokit_status.cpp
+        src/seer_robokit_navigation.cpp
+        src/seer_robokit_navigation_wait.cpp
+        src/seer_robokit_map.cpp
+        include/seer_robokit_agv.h
+        include/seer_robokit_protocol.h
+        include/seer_robokit_utils.h
+        include/seer_robokit_navigation_utils.h
+        include/seer_robokit_pgv_utils.h
+)
+
+target_include_directories(seer_robokit_agv
+        PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/include
+        ${PROJECT_SOURCE_DIR}/cmvr-es
+)
+
+target_link_libraries(seer_robokit_agv
+        PUBLIC
+        cmvr_es::proto
+        jsoncpp
+)
+
+add_library(cmvr_es::device::seer_robokit_agv ALIAS seer_robokit_agv)
+install(TARGETS seer_robokit_agv LIBRARY DESTINATION lib)

cmvr-es/devices/agv/seer_robokit/README.md

@@ -0,0 +1,375 @@
+# 仙工 SEER Robokit AGV 适配器
+
+`SeerRobokitAgv` 将仙工 SEER Robokit TCP/IP API 适配为 CMVR 的通用
+`AbstractAGV`/`cmvr.api.AgvService`。厂商命令号、端口、抢占控制权、状态轮询、
+地图格式转换和错误码解析都封装在本目录内。
+
+本项目现场使用的控制器型号仍是 SRC1100，所以设备实例 ID 保持为
+`src1100`；它只用于配置关联和 gRPC 路由，不再作为驱动实现名称。后端配置字段
+使用 `seer_robokit_agv`，目录、类、库和测试统一使用 `seer_robokit` /
+`SeerRobokitAgv` 命名。
+
+从旧版本升级时，外部部署配置必须同步使用 `seer_robokit_agv { ... }`，并把
+配置路径更新为 `devices/agv/seer_robokit.pb.txt`；设备实例 ID 保持不变。程序、
+外部配置和部署脚本需要原子升级，不能把旧字段或旧路径与新二进制混用。
+
+返回 [Devices 模块指南](../../README.md) 或 [项目总览](../../../../README.md)。
+
+## 代码与配置
+
+所有驱动头文件统一放在 `include/`，实现文件统一放在 `src/`；测试源码独立放在
+`tests/`。除 `seer_robokit_agv.h` 外，其余头文件均为驱动内部实现细节。
+
+- 公共类声明：[`include/seer_robokit_agv.h`](include/seer_robokit_agv.h)
+- 导航轮询工具：
+  [`include/seer_robokit_navigation_utils.h`](include/seer_robokit_navigation_utils.h)
+- PGV 参数转换：
+  [`include/seer_robokit_pgv_utils.h`](include/seer_robokit_pgv_utils.h)
+- 协议常量：[`include/seer_robokit_protocol.h`](include/seer_robokit_protocol.h)
+- 通用解析工具：[`include/seer_robokit_utils.h`](include/seer_robokit_utils.h)
+- 生命周期和连接：[`src/seer_robokit_agv.cpp`](src/seer_robokit_agv.cpp)
+- TCP 帧与收发：[`src/seer_robokit_transport.cpp`](src/seer_robokit_transport.cpp)
+- 控制权与受控命令：[`src/seer_robokit_control.cpp`](src/seer_robokit_control.cpp)
+- 状态与推送缓存：[`src/seer_robokit_status.cpp`](src/seer_robokit_status.cpp)
+- 导航命令：[`src/seer_robokit_navigation.cpp`](src/seer_robokit_navigation.cpp)
+- 阻塞等待与停车确认：
+  [`src/seer_robokit_navigation_wait.cpp`](src/seer_robokit_navigation_wait.cpp)
+- 地图和建图：[`src/seer_robokit_map.cpp`](src/seer_robokit_map.cpp)
+- 设备配置：
+  [`../../../config/devices/agv/seer_robokit.pb.txt`](../../../config/devices/agv/seer_robokit.pb.txt)
+- DeviceManager 配置：
+  [`../../../config/manager/device_manager.pb.txt`](../../../config/manager/device_manager.pb.txt)
+- gRPC API：
+  [`../../../../protos/cmvr/api/agv_service.proto`](../../../../protos/cmvr/api/agv_service.proto)、
+  [`../../../../protos/cmvr/api/agv_command.proto`](../../../../protos/cmvr/api/agv_command.proto)、
+  [`../../../../protos/cmvr/api/agv_utils.proto`](../../../../protos/cmvr/api/agv_utils.proto)
+
+## 配置和启动
+
+现场配置至少需要修改控制器 IP；端口通常保持仙工默认值：
+
+```textproto
+agv {
+  agvs {
+    id: "src1100"
+    seer_robokit_agv {
+      ip: "192.168.192.5"
+      port_status: 19204
+      port_control: 19205
+      port_nav: 19206
+      port_config: 19207
+      port_other: 19210
+      port_push: 19301
+      recv_timeout_ms: 1000
+      control_nick_name: "cmvr-es"
+      enable_state_push: true
+      state_push_interval_ms: 200
+      enable_map_update: true
+      map_update_interval_ms: 1000
+      map_update_history_size: 8
+    }
+  }
+}
+```
+
+还要在 `device_manager.pb.txt` 中确认同一个设备 id，并在完成现场安全检查后把
+`enable` 改为 `true`。源码默认配置故意保持关闭。
+
+```textproto
+devices {
+  id: "src1100"
+  type: DEVICE_TYPE_AGV
+  config_file: "devices/agv/seer_robokit.pb.txt"
+  enable: true
+}
+```
+
+构建、安装并启动：
+
+```bash
+cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
+cmake --build build -j2
+cmake --install build
+./output/bin/cmvr_es
+```
+
+`output/bin/cmvr_es` 默认读取 `output/bin/config/`。修改源码配置后需要重新安装，
+或通过程序支持的外部配置入口启动，不能只修改源码文件后继续使用旧的
+`output/` 配置。
+
+## 控制器端口和命令
+
+| 端口 | 主要用途 | 当前使用的命令 |
+| --- | --- | --- |
+| `19204` | 状态、站点、地图和建图文件 | `1004`、`1007`、`1020`、`1101`、`1110`、`1300`、`1301`、`1780`、`1800` |
+| `19205` | 底盘控制 | `2000`、`2010`、`2022` |
+| `19206` | 导航任务 | `3001`、`3002`、`3003`、`3051`、`3066`、`3067` |
+| `19207` | 控制权、清错、地图上传下载 | `4005`、`4009`、`4010`、`4011` |
+| `19210` | 开始/停止建图 | `6100`、`6101` |
+| `19301` | 机器人状态推送 | `9300`/`19300` 配置，`19301` 推送 |
+
+所有会改变机器人或控制器状态的调用都在 SEER Robokit 子类内部先通过 `4005`
+抢权，负载为稳定的 `nick_name`，成功后才发送实际命令。普通命令集中走
+`sendControlledCommand_`；`emergencyStop` 为保证 `2000` 和导航取消之间不被
+插入其他命令，会在同一个控制序列锁内只抢一次权。只读查询不抢权。不要在
+gRPC 客户端另做一套租约逻辑。
+
+## gRPC 接口概览
+
+默认示例端点为 `127.0.0.1:50052`；远程部署时替换为 CMVR 服务所在主机，
+不是 SEER Robokit 原生 TCP 端口。
+
+| gRPC 方法 | SEER Robokit 行为 | 说明 |
+| --- | --- | --- |
+| `getRuntimeState` | 推送缓存，缺失时查询 `1004/1007/1300` | 只读 |
+| `getNavigationStatus` | 跟踪任务查询 `1110`，无精确上下文时回退 `1020` | 只读；同步等待另用 `1101` 确认停车 |
+| `emergencyStop` | `2000`，再执行 `3003` 或 `3067` | 软件停止，不替代硬件急停 |
+| `clearFault` | `4009` | 抢权后发送无请求体命令，清除可恢复故障 |
+| `navigateToPose` | `3051` + `freeGo` | 地图绝对位姿，仅双轮差速底盘 |
+| `navigateToStation` | `3051` | 站点路径导航；PGV 二次定位也使用此方法 |
+| `followPath` | `3066` | 仙工“指定路径导航”，与 `3051` 不同 |
+| `pauseNavigation` / `resumeNavigation` | `3001` / `3002` | 导航控制 |
+| `cancelNavigation` | `3003`，路径队列使用 `3067` | 取消当前跟踪任务 |
+| `setVelocity` / `stopVelocityControl` | `2010` | 车体速度；停止时发送全零速度 |
+| `listMaps` / `listStations` | `1300` / `1301` | 只读 |
+| `switchMap` | `2022` | 会改变定位所用地图 |
+| `uploadMap` / `downloadMap` | `4010` / `4011` | 上传会抢权，下载只读 |
+| `startMapping` / `stopMapping` | `6100` / `6101` | 建图控制 |
+| `streamMap` | `1780/1800` 加内部解析和缓存 | 对外发送统一 2D/3D 地图，不暴露 `.smap` 原始格式 |
+
+查询运行状态：
+
+```bash
+grpcurl -plaintext \
+  -d '{"header":{"deviceId":"src1100"}}' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/getRuntimeState
+```
+
+查询导航状态：
+
+```bash
+grpcurl -plaintext \
+  -d '{"header":{"deviceId":"src1100"}}' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/getNavigationStatus
+```
+
+列出地图和当前地图站点：
+
+```bash
+grpcurl -plaintext \
+  -d '{"header":{"deviceId":"src1100"}}' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/listMaps
+
+grpcurl -plaintext \
+  -d '{"header":{"deviceId":"src1100"}}' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/listStations
+```
+
+## 导航的同步语义
+
+`navigateToPose`、`navigateToStation` 和 `followPath` 默认同步阻塞。控制器接受
+命令后，适配器继续轮询精确任务状态，并结合 `1101` 状态确认底盘已经停车；
+到达、失败、取消、遇障停止或超时后才返回。`waitTimeoutMs` 为 `0` 时使用
+适配器默认值，当前为 10 分钟；`pollIntervalMs` 为 `0` 时当前使用 200 ms。
+
+连续观察到障碍阻挡且底盘已经停止后，适配器会主动取消该导航；清理结果不明确
+时还可能发送软件停止。任务不会在障碍消失后由本次调用自动恢复。等待超时、
+RPC cancel 和 deadline 到期也会进入安全取消及停车确认，因此函数返回时间可能
+晚于最初发现障碍或取消请求的时刻。
+
+调用方的 gRPC deadline 必须大于预计行程时间和 `waitTimeoutMs`。RPC 被取消或
+deadline 到期时，适配器会进入安全取消/停车确认流程。显式设置
+`"asynchronous":true` 后不会等待任务终态：站点导航和指定路径导航在控制器
+接受后返回；自由导航仍会做最长约 1.5 秒的启动确认。异步成功不代表已经到点。
+
+`AgvMotionOptions` 中，SEER Robokit 的 `3051` 导航当前支持：
+
+| gRPC 字段 | 控制器字段 | 单位 |
+| --- | --- | --- |
+| `maxSpeed` | `max_speed` | m/s |
+| `maxAngularSpeed` | `max_wspeed` | rad/s |
+| `maxAcceleration` | `max_acc` | m/s² |
+| `maxAngularAcceleration` | `max_wacc` | rad/s² |
+| `reachDistance` | `reach_dist` | m |
+| `reachAngle` | `reach_angle` | rad |
+
+`asynchronous`、`waitTimeoutMs` 和 `pollIntervalMs` 由适配器本地执行。
+`speedRatio` 当前没有对应的 SEER Robokit 序列化字段。`followPath` 的运动选项当前只
+控制同步/异步等待、超时和轮询；在没有确认 `3066` 的速度字段前，不会猜测性地
+写入每个路径段。
+
+## 固定路径导航的 PGV 二次定位
+
+仙工文档 [“路径导航 / 2. 固定路径导航 PGV 二次定位调整”](https://seer-group.feishu.cn/wiki/Q26SwaNoGisuLWk2vCxcPfVWn2e)
+说明 PGV 参数是 `3051 / robot_task_gotarget_req` 的顶层可选字段。因此在 CMVR
+中应调用 `navigateToStation`，不是 `followPath`。后者对应另一条
+`3066 / 指定路径导航` 协议，现有仙工资料和仓库历史都没有证明 `3066` 支持
+PGV 字段。
+
+PGV 参数通过 `adapterParams.values` 传入。protobuf map 的值是字符串，
+SEER Robokit 适配器会在任何状态查询、抢权和运动命令之前完成校验，再转换为控制器
+要求的 JSON `bool`/`number`：
+
+| `adapterParams.values` 键 | 输出 JSON 类型 | 含义 |
+| --- | --- | --- |
+| `use_pgv` | `bool` | 使用上视 PGV |
+| `use_down_pgv` | `bool` | 使用下视 PGV |
+| `pgv_adjust_dist` | `number` | 最大调整半径，必须为有限非负数；用于仙工第 3/4 种调整方式 |
+| `pgv_adjust_cx` | `number` | 调整范围圆心在二维码坐标系下的 X 偏移；用于第 4 种方式 |
+| `pgv_adjust_cy` | `number` | 调整范围圆心在二维码坐标系下的 Y 偏移；用于第 4 种方式 |
+| `pgv_x_adjust` | `number` | 仅调整小车 X 方向误差；用于第 2 种方式 |
+
+所有数字都必须是完整、有限的数字字符串；偏移量允许正负。适配器不臆造
+调整半径上限，也不假定上视和下视一定互斥，这些约束应由实际 PGV 安装、标定和
+当前控制器版本确定。显式的 `"false"` 和 `"0"` 仍会作为原生布尔值和数值
+发给控制器；没有给出的字段不会发送。第 2/3/4 种方式由控制器和站点配置决定，
+本接口只传递与所选方式匹配的调整参数。
+
+一旦请求中出现任意 PGV 键，适配器只允许同时出现 `source_id`、`task_id` 和
+上述 PGV 字段；`operation`、`jack_height`、脚本名或未知扩展字段都会在状态
+查询和抢权前被拒绝，避免一次 PGV 导航意外夹带顶升、货叉、IO 或脚本动作。
+没有 PGV 键的既有站点导航扩展语义保持不变。
+
+上视 PGV 示例。该命令会让机器人导航到 `AP1`，只能在确认地图、站点、PGV
+标定、行驶区域和急停人员后执行：
+
+```bash
+grpcurl -plaintext \
+  -d '{
+    "header":{"deviceId":"src1100"},
+    "stationId":"AP1",
+    "options":{
+      "maxSpeed":0.15,
+      "maxAcceleration":0.15,
+      "asynchronous":false,
+      "waitTimeoutMs":300000,
+      "pollIntervalMs":200
+    },
+    "adapterParams":{"values":{
+      "use_pgv":"true",
+      "pgv_adjust_dist":"0.3",
+      "pgv_adjust_cx":"-0.3",
+      "pgv_adjust_cy":"0"
+    }}
+  }' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/navigateToStation
+```
+
+下视 PGV 使用同一接口，把 `use_down_pgv` 设为字符串 `"true"`；其他调整
+字段是否需要传入取决于现场定位方案。如果控制器版本要求明确起点，可在同一个
+map 中增加 `"source_id":"实际起点站点"`；默认起点为 `SELF_POSITION`。
+
+仙工在线文档当前有两处拼写不一致：
+
+- 代码块出现了损坏字段 `pgv_adjustuse_pgv_dist`；适配器会拒绝它，正确字段是
+  `pgv_adjust_dist`；
+- 表格写成 `pgv_ajdust_cy`，而示例和仓库旧版序列化代码使用
+  `pgv_adjust_cy`。适配器兼容接收前者，但只向控制器输出规范字段
+  `pgv_adjust_cy`；两个拼写同时出现会因歧义被拒绝。
+
+C++ 调用同样复用通用扩展参数：
+
+```cpp
+cmvr::device::AgvMotionOptions options;
+options.max_speed = 0.15;
+options.max_acceleration = 0.15;
+
+cmvr::device::AgvAdapterParams adapter;
+adapter.values["use_pgv"] = "true";
+adapter.values["pgv_adjust_dist"] = "0.3";
+adapter.values["pgv_adjust_cx"] = "-0.3";
+adapter.values["pgv_adjust_cy"] = "0";
+
+const auto result = agv.navigateToStation("AP1", options, adapter);
+```
+
+## 其他导航和控制示例
+
+自由导航使用地图绝对坐标，不是“相对当前位置移动多少米”。示例只展示请求
+结构，发送前必须读取当前位姿并确认目标在同一地图的安全区域：
+
+```bash
+grpcurl -plaintext \
+  -d '{
+    "header":{"deviceId":"src1100"},
+    "pose":{"x":1.0,"y":0.0,"theta":0.0},
+    "options":{"maxSpeed":0.15,"maxAcceleration":0.15}
+  }' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/navigateToPose
+```
+
+显式站点路径使用 `3066`：
+
+```bash
+grpcurl -plaintext \
+  -d '{
+    "header":{"deviceId":"src1100"},
+    "path":[
+      {"sourceStation":"LM1","targetStation":"LM2"},
+      {"sourceStation":"LM2","targetStation":"AP1"}
+    ]
+  }' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/followPath
+```
+
+暂停、继续和取消的请求体直接是 `CommandHeader.Request`，没有外层 `header`：
+
+```bash
+grpcurl -plaintext -d '{"deviceId":"src1100"}' \
+  127.0.0.1:50052 cmvr.api.AgvService/pauseNavigation
+
+grpcurl -plaintext -d '{"deviceId":"src1100"}' \
+  127.0.0.1:50052 cmvr.api.AgvService/resumeNavigation
+
+grpcurl -plaintext -d '{"deviceId":"src1100"}' \
+  127.0.0.1:50052 cmvr.api.AgvService/cancelNavigation
+```
+
+差速底盘的 `vy` 应保持 `0`。低层速度控制不等价于导航，并可能与已有任务
+冲突；只应在专门的速度控制测试流程中使用：
+
+```bash
+grpcurl -plaintext \
+  -d '{"header":{"deviceId":"src1100"},"velocity":{"vx":0.05,"vy":0,"wz":0}}' \
+  127.0.0.1:50052 \
+  cmvr.api.AgvService/setVelocity
+
+grpcurl -plaintext -d '{"deviceId":"src1100"}' \
+  127.0.0.1:50052 cmvr.api.AgvService/stopVelocityControl
+```
+
+## 错误返回
+
+控制器响应中的非零 `ret_code` 和 `err_msg` 会保留在 `AgvResult.message`，并由
+gRPC 同时写入 transport status message 和反馈头的 `errorMessage`。非 OK RPC
+下，标准客户端通常不会交付响应体，因此跨客户端应以 transport status message
+为准，不要依赖反馈头仍然可见。例如：
+
+```text
+SEER Robokit command failed: ret_code=43051, err_msg=planner_rejected_pose
+```
+
+控制器仅返回“已接收”不等于导航完成；同步接口仍要等待精确任务终态和停车
+确认。若发送后连接中断且控制器是否执行已无法确定，错误会明确提示 outcome
+unknown，调用方不能自动重发运动命令，应先查询状态并取消或停止。
+
+## 安全边界
+
+- 仙工文档明确把 `3051` 定位为任务链或验证测试等单车场景接口；不要把它当作
+  多车调度接口，否则可能出现路径/速度不连续等危险行为。
+- `emergencyStop` 是控制器软件停止，不是功能安全急停；真实系统必须保留可达的
+  硬件急停、安全激光、碰撞条和独立安全链。
+- 首次 PGV 测试应在低速、空载、隔离区域进行，并先核对二维码坐标系、传感器
+  上/下视方向、调整半径和中心偏移的标定值。
+- PGV 同步成功目前能证明精确 `3051` 任务进入终态，并连续确认两次零速度；
+  仙工文档没有明确 `Completed` 是否一定覆盖 PGV 二次调整的全部阶段，仍需实机
+  验证后才能据此联动机械臂。异步成功更不代表 PGV 调整完成。
+- 地图切换、地图上传和开始建图会改变控制器状态，也会先抢占控制权；不要和
+  现场调度系统并行操作。

cmvr-es/devices/agv/seer_robokit/include/seer_robokit_agv.h

@@ -0,0 +1,367 @@
+#ifndef CMVR_ES_SEER_ROBOKIT_AGV_H
+#define CMVR_ES_SEER_ROBOKIT_AGV_H
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <cstdint>
+#include <deque>
+#include <mutex>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include <json/json.h>
+
+#include "cmvr/config/agv_config/agv_config.pb.h"
+#include "devices/agv/abstract_agv.h"
+
+namespace cmvr::device {
+
+class SeerRobokitAgvTestPeer;
+
+class SeerRobokitAgv final : public AbstractAGV {
+public:
+    explicit SeerRobokitAgv(const config::SeerRobokitAgvConfig& cfg);
+    ~SeerRobokitAgv() override;
+
+    std::string typeName() const override { return "SeerRobokitAgv"; }
+
+    bool supportsSynchronousAction(AgvActionKind kind) const noexcept override
+    {
+        switch (kind) {
+            case AgvActionKind::NavigateToPose:
+            case AgvActionKind::NavigateToStation:
+            case AgvActionKind::FollowPath:
+                return true;
+        }
+        return false;
+    }
+
+    bool init() override;
+    bool start() override;
+    bool stop() override;
+    bool update() override;
+
+    AgvRuntimeState runtimeState() const override;
+    AgvNavigationStatus navigationStatus() const override;
+
+    AgvResult emergencyStop() override;
+    AgvResult clearFault() override;
+    AgvResult relocalize(const math::Pose2d& pose) override;
+
+
+    AgvResult navigateToPose(
+        const math::Pose2d& pose,
+        const AgvMotionOptions& options = {},
+        const AgvAdapterParams& adapter_params = AgvAdapterParams{}) override;
+    AgvResult navigateToStation(
+        const std::string& station_id,
+        const AgvMotionOptions& options = {},
+        const AgvAdapterParams& adapter_params = AgvAdapterParams{}) override;
+    AgvResult followPath(
+        const std::vector<AgvPathSegment>& path) override;
+    AgvResult followPath(
+        const std::vector<AgvPathSegment>& path,
+        const AgvMotionOptions& options) override;
+    AgvResult translate(const AgvTranslation& translation) override;
+    AgvResult pauseNavigation() override;
+    AgvResult resumeNavigation() override;
+    AgvResult cancelNavigation() override;
+
+    AgvResult setVelocity(const AgvVelocity& velocity) override;
+    AgvResult confirmMotionStopped() override;
+
+    AgvResult listMaps(std::vector<std::string>& maps) const override;
+    AgvResult listStations(std::vector<AgvStation>& stations) const override;
+    AgvResult switchMap(const std::string& map_name) override;
+    AgvResult uploadMap(const std::string& map_name, const std::string& content) override;
+    AgvResult downloadMap(const std::string& map_name, std::string& content) const override;
+    AgvResult startMapping(const AgvMappingOptions& options = {}) override;
+    AgvResult getMappingData(int start_index, AgvMappingData& data) const override;
+    AgvResult getUnifiedMapUpdate(
+        std::uint64_t after_sequence,
+        const AgvMapStreamOptions& options,
+        AgvUnifiedMapUpdate& update) const override;
+    AgvResult stopMapping() override;
+
+
+
+private:
+    friend class SeerRobokitAgvTestPeer;
+
+    struct Ports {
+        int status{19204};
+        int control{19205};
+        int navigation{19206};
+        int config{19207};
+        int other{19210};
+        int push{19301};
+    };
+
+    struct PoseTaskStatus {
+        bool found{false};
+        int state{0};
+        int type{0};
+        bool type_present{false};
+
+        double progress{0.0};
+        bool progress_present{false};
+
+        double remaining_distance{0.0};
+        bool distance_present{false};
+
+        std::string closest_target;
+        std::string source_name;
+        std::string target_name;
+        std::string detail;
+    };
+    struct NavigationSnapshot {
+        int task_status{0};
+        int task_type{0};
+        bool task_status_present{false};
+        bool task_type_present{false};
+        bool blocked{false};
+        bool blocked_present{false};
+        int block_reason{-1};
+        std::string block_reason_raw;
+        bool velocity_present{false};
+        double vx{0.0};
+        double vy{0.0};
+        double w{0.0};
+        bool emergency{false};
+        std::string target_id;
+        std::string active_faults;
+        bool only_recoverable_blocking_faults{false};
+        std::string detail;
+    };
+
+    enum class CommandTransmissionState {
+        NotSent,
+        PossiblySent,
+    };
+
+    struct TrackedNavigationContext {
+        std::string token;
+        std::vector<std::string> task_ids;
+        AgvTaskType type{AgvTaskType::None};
+        std::string target_id;
+        std::vector<std::string> target_ids;
+        std::uint64_t navigation_generation{0};
+        std::chrono::steady_clock::time_point accepted_at{};
+        bool synchronous_wait{false};
+    };
+
+    struct PoseTaskContext {
+        std::string task_id;
+        math::Pose2d target{};
+        double reach_distance{0.0};
+        double reach_angle{0.0};
+        std::uint64_t navigation_generation{0};
+        std::uint64_t controller_fault_sequence_at_start{0};
+        std::uint64_t control_attempt_sequence_at_start{0};
+        std::uint64_t controller_fault_channel_epoch_at_start{0};
+    };
+
+    AgvResult connect_();
+    AgvResult disconnect_();
+    AgvResult emergencyStopTrackedNavigation_(
+        const TrackedNavigationContext* expected_navigation);
+    AgvResult connectSocket_(int& sock, int port);
+    AgvResult ensureOtherSocket_();
+    void closeSocket_(int& sock) const;
+    bool connected_() const;
+
+    AgvResult acquireControl_() const;
+    AgvResult confirmPoseNavigationStarted_(
+        const PoseTaskContext& context,
+        bool accept_paused,
+        const AgvMotionOptions& options) const;
+    AgvResult waitForPoseNavigationTerminal_(
+        const PoseTaskContext& pose_context,
+        const TrackedNavigationContext& navigation_context,
+        const AgvMotionOptions& options);
+    AgvResult waitForTrackedNavigationTerminal_(
+        const TrackedNavigationContext& context,
+        const AgvMotionOptions& options);
+    AgvResult queryNavigationSnapshot_(NavigationSnapshot& snapshot) const;
+    AgvResult cancelTrackedNavigation_(
+        const TrackedNavigationContext& context,
+        std::uint64_t& accepted_generation);
+    AgvResult waitForCanceledTaskToStop_(
+        const TrackedNavigationContext& context,
+        const AgvMotionOptions& options,
+        const std::string& reason,
+        bool require_global_stopped = false);
+    AgvResult failAndCancelTrackedNavigation_(
+        const TrackedNavigationContext& context,
+        const AgvMotionOptions& options,
+        AgvErrorCode error_code,
+        const std::string& reason);
+    AgvResult queryPoseTaskStatus_(
+        const std::string& task_id,
+        PoseTaskStatus& status) const;
+    AgvResult queryTaskStatuses_(
+        const std::vector<std::string>& task_ids,
+        std::vector<PoseTaskStatus>& statuses) const;
+    bool poseTargetReached_(
+        const PoseTaskContext& context,
+        std::string& detail) const;
+    std::string cachedControllerFaultDetail_(
+        std::uint64_t after_sequence = 0,
+        int wait_ms = 0,
+        std::uint64_t* associated_control_attempt = nullptr) const;
+    int controllerFaultCaptureGraceMs_() const;
+    int controllerFaultStateMaxAgeMs_() const;
+    std::string freeNavigationFaultStateUnavailableDetail_() const;
+    void rememberPoseTask_(const PoseTaskContext& context) const;
+    void advancePoseTaskGeneration_(
+        std::uint64_t navigation_generation,
+        std::uint64_t control_attempt_sequence) const;
+    void advancePoseTaskControlAttempt_(
+        std::uint64_t control_attempt_sequence) const;
+    void clearPoseTask_(std::uint64_t navigation_generation) const;
+    void clearPoseTaskIfTaskId_(const std::string& task_id) const;
+    bool currentPoseTask_(PoseTaskContext& context) const;
+    void rememberTrackedNavigation_(
+        const TrackedNavigationContext& context) const;
+    void advanceTrackedNavigationGeneration_(
+        std::uint64_t navigation_generation) const;
+    void clearTrackedNavigation_(std::uint64_t navigation_generation) const;
+    void clearTrackedNavigationIfToken_(const std::string& token) const;
+    bool currentTrackedNavigation_(
+        TrackedNavigationContext& context) const;
+    AgvResult sendControlledCommand_(int sock,
+                                     std::uint16_t command,
+                                     const Json::Value& payload,
+                                     Json::Value* response,
+                                     std::uint64_t* accepted_navigation_generation = nullptr,
+                                     std::uint64_t* controller_fault_sequence_at_attempt = nullptr,
+                                     std::uint64_t* control_attempt_sequence = nullptr,
+                                     PoseTaskContext* pose_context_to_publish = nullptr,
+                                     bool reject_if_active_controller_fault = false,
+                                     TrackedNavigationContext* navigation_context_to_publish = nullptr,
+                                     bool preserve_tracked_navigation = false,
+                                     const std::string* expected_navigation_token = nullptr,
+                                     const std::function<bool()>* cancellation_requested = nullptr,
+                                     const TrackedNavigationContext* expected_active_navigation = nullptr) const;
+    AgvResult sendCommand_(int sock,
+                           std::uint16_t command,
+                           const Json::Value& payload,
+                           Json::Value* response,
+                           CommandTransmissionState* transmission_state = nullptr) const;
+    AgvResult sendCommandRaw_(int sock,
+                              std::uint16_t command,
+                              const Json::Value& payload,
+                              std::string* response_payload,
+                              CommandTransmissionState* transmission_state = nullptr) const;
+    AgvResult sendCommandNoResponse_(int sock, std::uint16_t command, const Json::Value& payload) const;
+    AgvResult configurePush_();
+    void startPushThread_();
+    void stopPushThread_();
+    void pushLoop_();
+    void invalidateControllerFaultState_();
+    AgvRuntimeState queryRuntimeState_() const;
+    void updateCachedRuntimeState_(const Json::Value& payload);
+    void startMapUpdateThread_();
+    void stopMapUpdateThread_();
+    void mapUpdateLoop_();
+    AgvResult refreshMapCacheOnce_(const AgvMapStreamOptions& options) const;
+    AgvResult parseMapFileToUpdates_(
+        const std::string& file_name,
+        const std::string& content,
+        const AgvMapStreamOptions& options,
+        std::vector<AgvUnifiedMapUpdate>& updates) const;
+    AgvResult parseSeerRobokitMapArchive_(
+        const std::string& file_name,
+        const std::string& content,
+        const AgvMapStreamOptions& options,
+        std::vector<AgvUnifiedMapUpdate>& updates) const;
+    AgvResult parseSeerRobokitMap2D_(
+        const std::string& file_name,
+        const std::string& content,
+        const AgvMapStreamOptions& options,
+        AgvUnifiedMapUpdate& update) const;
+    AgvResult parseSeerRobokitMap3D_(
+        const std::string& file_name,
+        const std::string& content,
+        const AgvMapStreamOptions& options,
+        AgvUnifiedMapUpdate& update) const;
+    void cacheMapUpdates_(std::vector<AgvUnifiedMapUpdate> updates) const;
+    bool findCachedMapUpdate_(
+        std::uint64_t after_sequence,
+        const AgvMapStreamOptions& options,
+        AgvUnifiedMapUpdate& update) const;
+    bool mapUpdateMatches_(
+        const AgvUnifiedMapUpdate& update,
+        const AgvMapStreamOptions& options) const;
+
+    static std::vector<std::uint8_t> buildFrame_(std::uint16_t command, const std::string& payload);
+    static std::string toJsonString_(const Json::Value& value);
+    static bool parseJson_(const std::string& input, Json::Value& output, std::string& error);
+    static std::string extractJson_(const std::string& raw);
+    static AgvResult receiveFrame_(int sock, std::uint16_t& command, std::string& payload);
+    static void applyMotionOptions_(
+        Json::Value& payload,
+        const AgvMotionOptions& options,
+        bool include_reach_options = true);
+    static void applyAdapterParams_(Json::Value& payload, const AgvAdapterParams& params);
+    static AgvResult resultFromResponse_(const Json::Value& response);
+
+    config::SeerRobokitAgvConfig config_;
+    std::string ip_;
+    std::string control_nick_name_;
+    int recv_timeout_ms_{1000};
+    Ports ports_;
+    bool state_push_enabled_{false};
+    bool map_update_enabled_{false};
+    int map_update_interval_ms_{1000};
+    std::size_t map_update_history_size_{8};
+
+    mutable std::mutex mutex_;
+    mutable std::mutex status_io_mutex_;
+    mutable std::mutex control_sequence_mutex_;
+    mutable std::atomic<std::uint64_t> navigation_generation_{0};
+    mutable std::atomic<std::uint64_t> pose_task_sequence_{0};
+    mutable std::atomic<std::uint64_t> control_attempt_sequence_{0};
+    mutable std::atomic<std::uint64_t> controller_fault_channel_epoch_{0};
+    mutable std::mutex pose_task_mutex_;
+    mutable PoseTaskContext pose_task_context_;
+    mutable std::mutex tracked_navigation_mutex_;
+    mutable TrackedNavigationContext tracked_navigation_context_;
+    mutable int sock_status_{-1};
+    mutable int sock_control_{-1};
+    mutable int sock_navigation_{-1};
+    mutable int sock_config_{-1};
+    mutable int sock_other_{-1};
+    mutable int sock_push_{-1};
+    std::string last_error_;
+
+    std::atomic<bool> push_running_{false};
+    std::thread push_thread_;
+    mutable std::mutex runtime_state_mutex_;
+    mutable std::condition_variable runtime_state_cv_;
+    AgvRuntimeState cached_runtime_state_;
+    bool cached_runtime_state_valid_{false};
+    std::uint64_t controller_fault_sequence_{0};
+    bool controller_fault_state_observed_{false};
+    std::chrono::steady_clock::time_point controller_fault_state_observed_at_{};
+    std::string active_controller_fault_detail_;
+    double last_controller_fault_timestamp_{0.0};
+    std::string last_controller_fault_detail_;
+    std::uint64_t last_controller_fault_control_attempt_{0};
+
+    mutable std::atomic<bool> map_update_running_{false};
+    mutable std::thread map_update_thread_;
+    mutable std::mutex map_update_mutex_;
+    mutable std::condition_variable map_update_cv_;
+    mutable std::deque<AgvUnifiedMapUpdate> cached_map_updates_;
+    mutable std::uint64_t map_sequence_{0};
+    mutable int next_mapping_index_{0};
+    mutable std::size_t last_map_content_hash_{0};
+    mutable std::string map_session_id_;
+};
+
+} // namespace cmvr::device
+
+#endif // CMVR_ES_SEER_ROBOKIT_AGV_H

cmvr-es/devices/agv/seer_robokit/include/seer_robokit_navigation_utils.h

@@ -0,0 +1,303 @@
+#ifndef CMVR_ES_SEER_ROBOKIT_NAVIGATION_UTILS_H
+#define CMVR_ES_SEER_ROBOKIT_NAVIGATION_UTILS_H
+
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <string>
+#include <thread>
+
+#include "devices/agv/abstract_agv.h"
+
+namespace cmvr::device::seer_robokit::navigation {
+
+constexpr auto kPoseNavigationStartTimeout = std::chrono::milliseconds(1500);
+constexpr auto kPoseNavigationPollInterval = std::chrono::milliseconds(50);
+constexpr int kPoseNavigationRequiredRunningSamples = 2;
+constexpr auto kDefaultNavigationWaitTimeout =
+    std::chrono::milliseconds(600000);
+constexpr auto kDefaultNavigationBlockedTimeout =
+    std::chrono::milliseconds(60000);
+constexpr auto kDefaultNavigationPollInterval =
+    std::chrono::milliseconds(200);
+constexpr auto kMaximumNavigationPollInterval =
+    std::chrono::milliseconds(5000);
+constexpr auto kNavigationCancellationCheckInterval =
+    std::chrono::milliseconds(50);
+constexpr auto kNavigationCancelPollInterval =
+    std::chrono::milliseconds(100);
+constexpr auto kNavigationCancelConfirmationTimeout =
+    std::chrono::milliseconds(3000);
+constexpr int kRequiredCompletedStopSamples = 2;
+constexpr double kNavigationStopVelocityTolerance = 0.005;
+constexpr int kRobotBlockedFaultCode = 52200;
+constexpr int kMinimumControllerFaultCaptureGraceMs = 250;
+constexpr int kMaximumControllerFaultCaptureGraceMs = 5000;
+constexpr int kDefaultControllerFaultPushIntervalMs = 1000;
+constexpr int kControllerFaultPushJitterMs = 100;
+constexpr int kMinimumControllerFaultStateMaxAgeMs = 2000;
+constexpr int kControllerFaultStateMaxAgeIntervals = 5;
+constexpr double kDefaultPoseReachDistance = 0.05;
+constexpr double kDefaultPoseReachAngle = 0.10;
+constexpr double kTwoPi = 6.28318530717958647692;
+
+static inline bool exactTaskStateIsActive(const int state)
+{
+    return state >= 1 && state <= 3;
+}
+
+static inline bool exactTaskStateIsKnownTerminal(const int state)
+{
+    return state >= 4 && state <= 7;
+}
+
+static inline bool globalTaskStateIsKnownTerminal(const int state)
+{
+    return state == 0 || exactTaskStateIsKnownTerminal(state);
+}
+
+// Some SRC firmware versions report station navigation as task type 3.
+// Exact task ids and target ids remain the primary ownership evidence.
+static inline bool exactTrackedNavigationTaskTypeMatches(
+    const AgvTaskType expected_type,
+    const int actual_type)
+{
+    switch (expected_type) {
+        case AgvTaskType::NavigateToPose:
+            return actual_type == 1;
+        case AgvTaskType::NavigateToStation:
+        case AgvTaskType::FollowPath:
+            return actual_type == 2 || actual_type == 3;
+        default:
+            return false;
+    }
+}
+
+static inline bool globalNavigationTaskTypeMatches(
+    const AgvTaskType expected_type,
+    const int actual_type)
+{
+    switch (expected_type) {
+        case AgvTaskType::NavigateToPose:
+            return actual_type == 1;
+        case AgvTaskType::NavigateToStation:
+            return actual_type == 2 || actual_type == 3;
+        case AgvTaskType::FollowPath:
+            return actual_type == 3;
+        default:
+            return false;
+    }
+}
+
+static inline double angleDistance(const double lhs, const double rhs)
+{
+    return std::abs(std::remainder(lhs - rhs, kTwoPi));
+}
+
+static inline AgvResult withUnknownControllerOutcome(AgvResult result)
+{
+    const auto code = result.ok() ? AgvErrorCode::CommandFailed : result.code;
+    std::string detail = result.message.empty() ? "unknown transport or protocol error" : result.message;
+    detail +=
+        "; SEER Robokit controller outcome is unknown after the command attempt; "
+        "the command may already have taken effect; do not issue another motion "
+        "command automatically; query status and cancel or stop first";
+    return AgvResult::failure(code, detail);
+}
+
+static inline std::string makePoseTaskId(
+    const std::string& device_id,
+    const std::uint64_t task_sequence)
+{
+    const auto timestamp = std::chrono::duration_cast<std::chrono::microseconds>(
+        std::chrono::system_clock::now().time_since_epoch()).count();
+    const std::string prefix = device_id.empty() ? "cmvr-es" : device_id;
+    return prefix + "_pose_" + std::to_string(timestamp)
+        + "_" + std::to_string(task_sequence);
+}
+
+static inline std::string makeNavigationTaskId(
+    const std::string& device_id,
+    const char* kind,
+    const std::uint64_t task_sequence)
+{
+    const auto timestamp = std::chrono::duration_cast<std::chrono::microseconds>(
+        std::chrono::system_clock::now().time_since_epoch()).count();
+    const std::string prefix = device_id.empty() ? "cmvr-es" : device_id;
+    return prefix + "_" + kind + "_" + std::to_string(timestamp)
+        + "_" + std::to_string(task_sequence);
+}
+
+static inline const char* blockReasonName(const int reason)
+{
+    switch (reason) {
+        case 0:
+            return "ultrasonic";
+        case 1:
+            return "laser";
+        case 2:
+            return "fallingdown";
+        case 3:
+            return "collision";
+        case 4:
+            return "infrared";
+        case 5:
+            return "locked";
+        default:
+            return "unknown";
+    }
+}
+
+static inline std::string invalidMotionOption(const AgvMotionOptions& options)
+{
+    const auto non_negative_error = [](const double value, const char* field) {
+        if (!std::isfinite(value)) {
+            return std::string(field) + " must be finite";
+        }
+        if (value < 0.0) {
+            return std::string(field) + " must be non-negative";
+        }
+        return std::string{};
+    };
+
+    if (auto error = non_negative_error(options.max_speed, "max_speed");
+        !error.empty()) return error;
+    if (auto error = non_negative_error(
+            options.max_angular_speed,
+            "max_angular_speed");
+        !error.empty()) return error;
+    if (auto error = non_negative_error(
+            options.max_acceleration,
+            "max_acceleration");
+        !error.empty()) return error;
+    if (auto error = non_negative_error(
+            options.max_angular_acceleration,
+            "max_angular_acceleration");
+        !error.empty()) return error;
+    if (auto error = non_negative_error(
+            options.reach_distance,
+            "reach_distance");
+        !error.empty()) return error;
+    if (auto error = non_negative_error(options.reach_angle, "reach_angle");
+        !error.empty()) return error;
+    if (auto error = non_negative_error(options.speed_ratio, "speed_ratio");
+        !error.empty()) return error;
+    if (options.wait_timeout_ms < 0) {
+        return "wait_timeout_ms must be non-negative";
+    }
+    if (options.blocked_timeout_ms < 0) {
+        return "blocked_timeout_ms must be non-negative";
+    }
+    if (options.poll_interval_ms < 0) {
+        return "poll_interval_ms must be non-negative";
+    }
+    if (options.poll_interval_ms
+        > kMaximumNavigationPollInterval.count()) {
+        return "poll_interval_ms must not exceed "
+            + std::to_string(kMaximumNavigationPollInterval.count());
+    }
+    if (options.wait_timeout_ms > 0
+        && options.poll_interval_ms > options.wait_timeout_ms) {
+        return "poll_interval_ms must not exceed wait_timeout_ms";
+    }
+    return {};
+}
+
+static inline std::chrono::milliseconds navigationWaitTimeout(
+    const AgvMotionOptions& options)
+{
+    return options.wait_timeout_ms > 0
+        ? std::chrono::milliseconds(options.wait_timeout_ms)
+        : kDefaultNavigationWaitTimeout;
+}
+
+static inline std::chrono::milliseconds navigationBlockedTimeout(
+    const AgvMotionOptions& options)
+{
+    return options.blocked_timeout_ms > 0
+        ? std::chrono::milliseconds(options.blocked_timeout_ms)
+        : kDefaultNavigationBlockedTimeout;
+}
+
+static inline std::chrono::milliseconds navigationPollInterval(
+    const AgvMotionOptions& options)
+{
+    if (options.poll_interval_ms <= 0) {
+        return kDefaultNavigationPollInterval;
+    }
+    return std::chrono::milliseconds(
+        std::max(options.poll_interval_ms, 20));
+}
+
+static inline bool navigationCancellationRequested(const AgvMotionOptions& options)
+{
+    return options.cancellation_requested
+        && options.cancellation_requested();
+}
+
+static inline void sleepForNavigationPoll(
+    const std::chrono::milliseconds poll_interval,
+    const std::chrono::steady_clock::time_point overall_deadline,
+    const AgvMotionOptions& options)
+{
+    const auto poll_deadline = std::min(
+        overall_deadline,
+        std::chrono::steady_clock::now() + poll_interval);
+    while (std::chrono::steady_clock::now() < poll_deadline
+           && !navigationCancellationRequested(options)) {
+        const auto remaining = std::chrono::duration_cast<std::chrono::milliseconds>(
+            poll_deadline - std::chrono::steady_clock::now());
+        if (remaining <= std::chrono::milliseconds::zero()) {
+            break;
+        }
+        std::this_thread::sleep_for(std::min(
+            kNavigationCancellationCheckInterval,
+            remaining));
+    }
+}
+
+template <typename Snapshot>
+static inline bool navigationStopped(const Snapshot& snapshot)
+{
+    return snapshot.velocity_present
+        && std::abs(snapshot.vx) <= kNavigationStopVelocityTolerance
+        && std::abs(snapshot.vy) <= kNavigationStopVelocityTolerance
+        && std::abs(snapshot.w) <= kNavigationStopVelocityTolerance;
+}
+
+static inline AgvResult reconciledNavigationResult(
+    const AgvResult& command_result,
+    AgvResult terminal_result)
+{
+    if (command_result.ok()) {
+        return terminal_result;
+    }
+    if (terminal_result.ok()) {
+        terminal_result.message =
+            "SEER Robokit navigation completed after an indeterminate command "
+            "acknowledgment; initial_detail=" + command_result.message;
+        return terminal_result;
+    }
+    terminal_result.message =
+        "SEER Robokit navigation command acknowledgment was indeterminate: "
+        + command_result.message + "; status reconciliation: "
+        + terminal_result.message;
+    return terminal_result;
+}
+
+static inline bool parseFiniteDouble(const std::string& value, double& parsed)
+{
+    std::size_t consumed = 0;
+    try {
+        parsed = std::stod(value, &consumed);
+    } catch (...) {
+        return false;
+    }
+    return consumed == value.size() && std::isfinite(parsed);
+}
+
+} // namespace cmvr::device::seer_robokit::navigation
+
+#endif // CMVR_ES_SEER_ROBOKIT_NAVIGATION_UTILS_H

cmvr-es/devices/agv/seer_robokit/include/seer_robokit_protocol.h

@@ -0,0 +1,41 @@
+#ifndef CMVR_ES_SEER_ROBOKIT_PROTOCOL_H
+#define CMVR_ES_SEER_ROBOKIT_PROTOCOL_H
+
+#include <cstdint>
+
+namespace cmvr::device::seer_robokit::protocol {
+
+constexpr std::uint16_t kRobotStatusLoc = 1004;
+constexpr std::uint16_t kRobotStatusBattery = 1007;
+constexpr std::uint16_t kRobotStatusAll2 = 1101;
+constexpr std::uint16_t kRobotStatusTask = 1020;
+constexpr std::uint16_t kRobotStatusTaskPackage = 1110;
+constexpr std::uint16_t kRobotStatusMap = 1300;
+constexpr std::uint16_t kRobotStatusStation = 1301;
+constexpr std::uint16_t kRobotStatusMappingFileList = 1780;
+constexpr std::uint16_t kRobotStatusDownloadFile = 1800;
+constexpr std::uint16_t kRobotControlStop = 2000;
+constexpr std::uint16_t kRobotControlReloc = 2002;
+constexpr std::uint16_t kRobotControlMotion = 2010;
+constexpr std::uint16_t kRobotControlLoadMap = 2022;
+constexpr std::uint16_t kRobotTaskPause = 3001;
+constexpr std::uint16_t kRobotTaskResume = 3002;
+constexpr std::uint16_t kRobotTaskCancel = 3003;
+constexpr std::uint16_t kRobotTaskGoTarget = 3051;
+constexpr std::uint16_t kRobotTaskTranslate = 3055;
+constexpr std::uint16_t kRobotTaskGoTargetList = 3066;
+constexpr std::uint16_t kRobotTaskClearTargetList = 3067;
+constexpr std::uint16_t kRobotConfigLock = 4005;
+constexpr std::uint16_t kRobotConfigClearFault = 4009;
+constexpr std::uint16_t kRobotConfigUploadMap = 4010;
+constexpr std::uint16_t kRobotConfigDownloadMap = 4011;
+constexpr std::uint16_t kRobotOtherStartMapping = 6100;
+constexpr std::uint16_t kRobotOtherStopMapping = 6101;
+constexpr std::uint16_t kRobotPushConfigReq = 9300;
+constexpr std::uint16_t kRobotPushConfigRes = 19300;
+constexpr std::uint16_t kRobotPush = 19301;
+constexpr std::uint32_t kMaxFramePayloadBytes = 512U * 1024U * 1024U;
+
+} // namespace cmvr::device::seer_robokit::protocol
+
+#endif // CMVR_ES_SEER_ROBOKIT_PROTOCOL_H

cmvr-es/devices/agv/seer_robokit/src/seer_robokit_control.cpp

@@ -0,0 +1,375 @@
+#include "seer_robokit_agv.h"
+#include "seer_robokit_navigation_utils.h"
+#include "seer_robokit_protocol.h"
+#include "seer_robokit_utils.h"
+
+#include <algorithm>
+#include <chrono>
+#include <cstdint>
+#include <functional>
+#include <mutex>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace cmvr::device {
+
+using namespace seer_robokit::navigation;
+using namespace seer_robokit::protocol;
+using namespace seer_robokit::detail;
+
+AgvResult SeerRobokitAgv::acquireControl_() const
+{
+    Json::Value payload(Json::objectValue);
+    jsonMember(payload, "nick_name") = control_nick_name_;
+
+    Json::Value response;
+    auto result = sendCommand_(sock_config_, kRobotConfigLock, payload, &response);
+    return result.ok() ? resultFromResponse_(response) : result;
+}
+
+AgvResult SeerRobokitAgv::sendControlledCommand_(
+    const int sock,
+    const std::uint16_t command,
+    const Json::Value& payload,
+    Json::Value* response,
+    std::uint64_t* accepted_navigation_generation,
+    std::uint64_t* controller_fault_sequence_at_attempt,
+    std::uint64_t* control_attempt_sequence,
+    PoseTaskContext* pose_context_to_publish,
+    const bool reject_if_active_controller_fault,
+    TrackedNavigationContext* navigation_context_to_publish,
+    const bool preserve_tracked_navigation,
+    const std::string* expected_navigation_token,
+    const std::function<bool()>* cancellation_requested,
+    const TrackedNavigationContext* expected_active_navigation) const
+{
+    const auto canceled_before_send = [cancellation_requested]() {
+        return cancellation_requested
+            && *cancellation_requested
+            && (*cancellation_requested)();
+    };
+    if (canceled_before_send()) {
+        return AgvResult::failure(
+            AgvErrorCode::TaskCanceled,
+            "SEER Robokit command was not sent because the caller canceled the "
+            "operation before control authority was acquired");
+    }
+
+    const auto expected_context_is_current =
+        [this, expected_active_navigation]() {
+            if (!expected_active_navigation) {
+                return true;
+            }
+            TrackedNavigationContext active_context;
+            return currentTrackedNavigation_(active_context)
+                && active_context.token
+                    == expected_active_navigation->token
+                && active_context.navigation_generation
+                    == expected_active_navigation->navigation_generation
+                && active_context.type
+                    == expected_active_navigation->type
+                && navigation_generation_.load(std::memory_order_relaxed)
+                    == expected_active_navigation->navigation_generation;
+        };
+
+    // Conditional cancel ownership checks are deliberately performed without
+    // the control sequencing mutex. A slow 1110/1101 response must never
+    // prevent emergencyStop() from acquiring authority and sending 2000.
+    // The exact local token/generation/type is revalidated under the control
+    // lock both before and after authority acquisition below.
+    if (expected_active_navigation) {
+        if (!expected_context_is_current()) {
+            return AgvResult::failure(
+                AgvErrorCode::TaskCanceled,
+                "SEER Robokit did not start conditional navigation cancel "
+                "preflight because the tracked task was already replaced or "
+                "ended");
+        }
+
+        std::vector<PoseTaskStatus> statuses;
+        const auto exact_result = queryTaskStatuses_(
+            expected_active_navigation->task_ids,
+            statuses);
+        if (!exact_result.ok()) {
+            return AgvResult::failure(
+                exact_result.code,
+                "SEER Robokit did not send the conditional navigation cancel "
+                "because exact task ownership preflight failed: "
+                    + exact_result.message);
+        }
+        const bool all_exact_tasks_terminal = !statuses.empty()
+            && std::all_of(
+                statuses.begin(),
+                statuses.end(),
+                [](const PoseTaskStatus& status) {
+                    return status.found
+                        && exactTaskStateIsKnownTerminal(status.state);
+                });
+        if (all_exact_tasks_terminal) {
+            return AgvResult::success();
+        }
+
+        const bool exact_task_still_active = std::any_of(
+            statuses.begin(),
+            statuses.end(),
+            [](const PoseTaskStatus& status) {
+                return status.found
+                    && exactTaskStateIsActive(status.state);
+            });
+
+        NavigationSnapshot snapshot;
+        const auto snapshot_result = queryNavigationSnapshot_(snapshot);
+        if (!snapshot_result.ok()) {
+            return AgvResult::failure(
+                snapshot_result.code,
+                "SEER Robokit did not send the conditional navigation cancel "
+                "because 1101 ownership preflight was unavailable: "
+                    + snapshot_result.message);
+        }
+        const bool global_active =
+            exactTaskStateIsActive(snapshot.task_status);
+        const bool global_type_matches =
+            globalNavigationTaskTypeMatches(
+                expected_active_navigation->type,
+                snapshot.task_type);
+        const bool target_conflicts = global_active
+            && !snapshot.target_id.empty()
+            && !expected_active_navigation->target_ids.empty()
+            && std::find(
+                   expected_active_navigation->target_ids.begin(),
+                   expected_active_navigation->target_ids.end(),
+                   snapshot.target_id)
+                == expected_active_navigation->target_ids.end();
+        if (global_active
+            && (!global_type_matches
+                || target_conflicts)) {
+            return AgvResult::failure(
+                AgvErrorCode::TaskCanceled,
+                "SEER Robokit did not send the conditional navigation cancel "
+                "because 1101 reports another active task: "
+                    + snapshot.detail);
+        }
+
+        if (!exact_task_still_active) {
+            const bool clearing_path_queue =
+                expected_active_navigation->type
+                == AgvTaskType::FollowPath;
+            const bool terminal_target_matches =
+                expected_active_navigation->type
+                    != AgvTaskType::NavigateToStation
+                || (!snapshot.target_id.empty()
+                    && snapshot.target_id
+                        == expected_active_navigation->target_id);
+            if (globalTaskStateIsKnownTerminal(snapshot.task_status)
+                && snapshot.task_status != 0
+                && !clearing_path_queue
+                && global_type_matches
+                && terminal_target_matches) {
+                return AgvResult::success();
+            }
+        }
+    }
+
+    // Keep the permission acquisition and the following write ordered with
+    // respect to other control RPCs in this process. Channel I/O serialization
+    // is separate, so this must remain a distinct lock.
+    std::lock_guard<std::mutex> sequence_lock(control_sequence_mutex_);
+    if (expected_navigation_token) {
+        TrackedNavigationContext active_context;
+        const bool has_active_context =
+            currentTrackedNavigation_(active_context);
+        const bool expected_context_matches = expected_active_navigation
+            ? (has_active_context
+                && active_context.token
+                    == expected_active_navigation->token
+                && active_context.navigation_generation
+                    == expected_active_navigation->navigation_generation
+                && active_context.type
+                    == expected_active_navigation->type
+                && navigation_generation_.load(std::memory_order_relaxed)
+                    == expected_active_navigation->navigation_generation)
+            : (has_active_context
+                && active_context.token == *expected_navigation_token);
+        if (!expected_context_matches) {
+            return AgvResult::failure(
+                AgvErrorCode::TaskCanceled,
+                "SEER Robokit did not send the conditional navigation cancel "
+                "because the tracked task was already replaced or ended; "
+                "expected_token=" + *expected_navigation_token
+                    + (active_context.token.empty()
+                           ? std::string(", active_token=<none>")
+                           : ", active_token=" + active_context.token));
+        }
+    }
+    const auto attempt_sequence =
+        control_attempt_sequence_.fetch_add(
+            1,
+            std::memory_order_relaxed) + 1;
+    if (control_attempt_sequence) {
+        *control_attempt_sequence = attempt_sequence;
+    }
+    if (pose_context_to_publish) {
+        pose_context_to_publish->control_attempt_sequence_at_start =
+            attempt_sequence;
+    }
+
+    const auto authority = acquireControl_();
+    if (!authority.ok()) {
+        const std::string detail = authority.message.empty() ? "unknown error" : authority.message;
+        return AgvResult::failure(
+            authority.code,
+            "SEER Robokit acquire control authority failed: " + detail);
+    }
+    if (expected_active_navigation && !expected_context_is_current()) {
+        return AgvResult::failure(
+            AgvErrorCode::TaskCanceled,
+            "SEER Robokit did not send the conditional navigation cancel because "
+            "the tracked token, generation, or type changed while control "
+            "authority was being acquired");
+    }
+    if (canceled_before_send()) {
+        return AgvResult::failure(
+            AgvErrorCode::TaskCanceled,
+            "SEER Robokit command was not sent because the caller canceled the "
+            "operation while control authority was being acquired");
+    }
+    std::string controller_fault_gate_error;
+    if (controller_fault_sequence_at_attempt
+        || pose_context_to_publish
+        || reject_if_active_controller_fault) {
+        std::lock_guard<std::mutex> lock(runtime_state_mutex_);
+        if (controller_fault_sequence_at_attempt) {
+            *controller_fault_sequence_at_attempt =
+                controller_fault_sequence_;
+        }
+        if (pose_context_to_publish) {
+            pose_context_to_publish->controller_fault_sequence_at_start =
+                controller_fault_sequence_;
+            pose_context_to_publish
+                ->controller_fault_channel_epoch_at_start =
+                controller_fault_channel_epoch_.load(
+                    std::memory_order_relaxed);
+        }
+        if (reject_if_active_controller_fault) {
+            if (!state_push_enabled_) {
+                controller_fault_gate_error =
+                    "controller fault state is unavailable because state push "
+                    "is disabled";
+            } else if (!active_controller_fault_detail_.empty()) {
+                controller_fault_gate_error =
+                    "the controller reported a fault or invalid fault state: "
+                    + active_controller_fault_detail_;
+            } else if (!controller_fault_state_observed_) {
+                controller_fault_gate_error =
+                    "no state push containing fatals/errors has been observed";
+            } else {
+                const auto fault_state_age =
+                    std::chrono::duration_cast<std::chrono::milliseconds>(
+                        std::chrono::steady_clock::now()
+                            - controller_fault_state_observed_at_)
+                        .count();
+                if (fault_state_age > controllerFaultStateMaxAgeMs_()) {
+                    controller_fault_gate_error =
+                        "the most recent fatals/errors state push is stale "
+                        "(age_ms=" + std::to_string(fault_state_age)
+                        + ", max_age_ms="
+                        + std::to_string(controllerFaultStateMaxAgeMs_())
+                        + ")";
+                }
+            }
+        }
+    }
+    if (!controller_fault_gate_error.empty()) {
+        return AgvResult::failure(
+            AgvErrorCode::Fault,
+            "SEER Robokit free-navigation command was not sent because "
+                + controller_fault_gate_error);
+    }
+    if (canceled_before_send()) {
+        return AgvResult::failure(
+            AgvErrorCode::TaskCanceled,
+            "SEER Robokit command was not sent because the caller canceled the "
+            "operation before the controller command write");
+    }
+    if (canceled_before_send()) {
+        return AgvResult::failure(
+            AgvErrorCode::TaskCanceled,
+            "SEER Robokit command was not sent because the caller canceled the "
+            "operation immediately before the controller command write");
+    }
+    const auto publish_navigation_generation =
+        [this,
+         accepted_navigation_generation,
+         pose_context_to_publish,
+         navigation_context_to_publish,
+         preserve_tracked_navigation]() {
+            const auto generation =
+                navigation_generation_.fetch_add(
+                    1,
+                    std::memory_order_relaxed) + 1;
+            *accepted_navigation_generation = generation;
+            if (pose_context_to_publish) {
+                pose_context_to_publish->navigation_generation = generation;
+                rememberPoseTask_(*pose_context_to_publish);
+            }
+            if (navigation_context_to_publish) {
+                navigation_context_to_publish->navigation_generation =
+                    generation;
+                navigation_context_to_publish->accepted_at =
+                    std::chrono::steady_clock::now();
+                rememberTrackedNavigation_(
+                    *navigation_context_to_publish);
+            } else if (preserve_tracked_navigation) {
+                advanceTrackedNavigationGeneration_(generation);
+            } else {
+                clearTrackedNavigation_(generation);
+            }
+        };
+    CommandTransmissionState transmission_state =
+        CommandTransmissionState::NotSent;
+    auto result = sendCommand_(
+        sock,
+        command,
+        payload,
+        response,
+        &transmission_state);
+    if (!result.ok()) {
+        if (accepted_navigation_generation
+            && transmission_state
+                == CommandTransmissionState::PossiblySent) {
+            // Once the control write has been attempted, a timeout, disconnect,
+            // wrong response opcode, or malformed JSON cannot prove rejection:
+            // the controller may already have executed the command.
+            publish_navigation_generation();
+            return withUnknownControllerOutcome(std::move(result));
+        }
+        return result;
+    }
+    if (!accepted_navigation_generation) {
+        return result;
+    }
+    if (!response) {
+        publish_navigation_generation();
+        return withUnknownControllerOutcome(AgvResult::failure(
+            AgvErrorCode::CommandFailed,
+            "SEER Robokit cannot confirm navigation command without a response"));
+    }
+    if (!hasNumericControllerRetCode(*response)) {
+        publish_navigation_generation();
+        return withUnknownControllerOutcome(resultFromResponse_(*response));
+    }
+    result = resultFromResponse_(*response);
+    if (!result.ok()) {
+        return result;
+    }
+
+    // Advance only after the controller accepted the command, and do it before
+    // releasing control_sequence_mutex_. This prevents a failed cancel/pause or
+    // failed authority acquisition from falsely reporting a pose task canceled,
+    // while preserving the controller's actual command order under concurrency.
+    publish_navigation_generation();
+    return result;
+}
+
+} // namespace cmvr::device

cmvr-es/devices/arm/aubo_arm/CMakeLists.txt

@@ -2,6 +2,8 @@ add_library(aubo_arm SHARED
         aubo_arm.cpp
 )
 
+find_package(Threads REQUIRED)
+
 target_include_directories(aubo_arm PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 set(AUBO_SDK_ROOT ${CMAKE_SOURCE_DIR}/dependency/${ARCH}/third_party/aubo_sdk/v0.27.1)
@@ -71,6 +73,8 @@ target_link_libraries(aubo_arm
         cmvr_es::proto
         PRIVATE
         glog
+        jsoncpp
+        Threads::Threads
 )
 
 add_library(cmvr_es::device::aubo_arm ALIAS aubo_arm)

cmvr-es/devices/arm/aubo_arm/README.md

@@ -0,0 +1,139 @@
+# AUBO RobotArm 与控制柜 IO
+
+`AuboArm` 是 AUBO SDK v0.27.1 的 `RobotArm` 后端。控制柜 Standard 数字 IO
+通过设备通用的 `executeJsonCommand` 接口访问，远程调用复用
+`cmvr.api.ArmService/ExecuteJsonCommand`，不经过 `SystemService` 或
+`MotorService`。该 RPC 只路由到 `RobotArm`，不会把 JSON 命令转发给其他设备类型。
+旧的 `cmvr.api.SystemService/ExecuteJsonCommand` 不再注册，调用方必须更新服务路径；
+请求和响应消息结构保持不变。
+
+返回 [Devices 模块指南](../../README.md) 或 [项目总览](../../../../README.md)。
+
+## 代码与配置
+
+- 实现：[`aubo_arm.h`](aubo_arm.h)、[`aubo_arm.cpp`](aubo_arm.cpp)
+- 设备配置：[`../../../config/devices/arm/aubo_arm.pb.txt`](../../../config/devices/arm/aubo_arm.pb.txt)
+- DeviceManager 配置：
+  [`../../../config/manager/device_manager.pb.txt`](../../../config/manager/device_manager.pb.txt)
+- ArmService 实现：
+  [`../../../service/grpc/server/src/grpc_arm_service.cpp`](../../../service/grpc/server/src/grpc_arm_service.cpp)
+- Proto：[`../../../../protos/cmvr/api/arm_service.proto`](../../../../protos/cmvr/api/arm_service.proto)
+
+仓库配置使用 SDK RPC 端口 `30004`。现场部署必须填写真实控制器地址和凭据，
+不要把生产密码提交到默认配置。
+
+## 控制柜 Standard 数字 IO
+
+当前支持：
+
+| `operation` | 说明 | 必填字段 |
+| --- | --- | --- |
+| `get_di` | 读取控制柜数字输入 | `index` |
+| `get_do` | 读取控制柜数字输出及其 runstate | `index` |
+| `set_do` | 设置控制柜数字输出 | `index`、`value` |
+
+JSON 命令：
+
+```json
+{"command":"cabinet_io","operation":"get_di","index":0}
+{"command":"cabinet_io","operation":"get_do","index":0}
+{"command":"cabinet_io","operation":"set_do","index":0,"value":true}
+```
+
+`index` 从 `0` 开始，运行时根据控制器返回的 IO 数量检查范围。
+`set_do.value` 必须是 JSON 布尔值 `true` 或 `false`，不接受 `0/1` 或字符串。
+`set_do` 成功响应中的 `requested_value` 只表示 SDK 已接受请求；确认实际输出时
+必须再调用 `get_do`。
+
+读取成功响应示例：
+
+```json
+{
+  "success": true,
+  "command": "cabinet_io",
+  "operation": "get_di",
+  "index": 0,
+  "count": 16,
+  "value": false
+}
+```
+
+## 通过 gRPC 调用
+
+默认 gRPC 端口为 `50052`。读取 DI0：
+
+```shell
+grpcurl -plaintext \
+  -d '{
+    "header":{"deviceId":"aubo_arm"},
+    "requestJson":"{\"command\":\"cabinet_io\",\"operation\":\"get_di\",\"index\":0}"
+  }' \
+  127.0.0.1:50052 \
+  cmvr.api.ArmService/ExecuteJsonCommand
+```
+
+设置 DO0 为高电平：
+
+```shell
+grpcurl -plaintext \
+  -d '{
+    "header":{"deviceId":"aubo_arm"},
+    "requestJson":"{\"command\":\"cabinet_io\",\"operation\":\"set_do\",\"index\":0,\"value\":true}"
+  }' \
+  127.0.0.1:50052 \
+  cmvr.api.ArmService/ExecuteJsonCommand
+```
+
+使用源码默认配置时：
+
+1. 在 `cmvr-es/config/devices/arm/aubo_arm.pb.txt` 填写正确地址和登录信息；
+2. 在 `cmvr-es/config/manager/device_manager.pb.txt` 将 `aubo_arm.enable`
+   改为 `true`；
+3. 重新安装配置并启动安装产物。
+
+```shell
+cmake --install build
+./output/bin/cmvr_es
+```
+
+`output/bin/cmvr_es` 默认读取 `output/bin/config/`。使用 `--config` 时，应修改
+对应外部配置根。设备未启用或初始化失败时，gRPC 返回
+`Device not found: aubo_arm`。
+
+## 安全与语义边界
+
+- 后端使用独立 SDK RPC 会话持续读取控制器的 `SafetyModeType`、
+  `RobotModeType` 和硬件急停来源；首次有效样本前、监控断线或样本过期时，
+  所有 Move、Speed、Servo 和程序启动请求均按不安全状态拒绝；
+- 硬件急停会立即使当前运动 generation 失效，并在急停输入有效期间保持锁存。
+  AUBO SDK 将示教器/控制柜急停报告为 `RobotEmergencyStop`，将控制器系统急停
+  （外部系统急停输入）报告为 `SystemEmergencyStop`；两者在本后端都属于硬件急停。
+  检测到任一硬件急停输入消失且控制器重新报告 `Normal`/`ReducedMode` 后，后端自动
+  执行 `poweron()` 和 `startup()`，恢复到 `Running` 后再完成安全确认并开放新的 gRPC
+  控制指令；防护停机和 Safety Fault/Violation 仍保持显式恢复语义；
+- `emergencyStop()` 使用独立的 `SoftwareEmergencyStop` 锁存。即使软件急停在真实
+  硬件急停有效期间触发，后续硬件采样也不能覆盖该锁存，释放硬件急停开关不会
+  自动清除软件急停；它只能通过显式安全恢复流程解除；
+- 锁存后会终止直接运动与程序、关闭 servo 模式并清理控制器轨迹。硬件急停
+  自动恢复先上电到 `Idle`，在刹车释放前清理 runtime、servo 和轨迹队列，再执行
+  `startup()`；到达 `Running` 后还会再次确认 `ExecId == -1`、普通队列和轨迹队列
+  均为空、运行时已停止且机械臂稳定，全部成立后才能解除锁存；
+- 当前 AUBO 配置通过 `auto_power_on_after_hardware_estop_release: true` 显式启用自动
+  上电。自动确认失败时继续保持 fail-closed，并允许通过 `torqueOn`/`clearFault`/
+  `unlockProtectiveStop` 显式重试；本轮释放期间收到 `stopMotion()` 或 `torqueOff()`
+  会取消自动上电，显式停止始终优先；
+- 恢复流程只调用 `poweron()` 和 `startup()`，不会调用 `resume`、`arbitraryResume`、
+  `startMove`，也不会重新提交急停前的目标、速度、servo 指令或程序；
+- AUBO SDK 未在本地文档中保证急停期间 `clearPath` 的可用性，也未说明释放
+  急停开关后的控制器恢复时序。因此自动恢复必须在释放后再次清队列并完成上述
+  安全确认；无法确认时不得解除锁存。“释放开关后零位移”的最终保证仍需真机
+  验证及控制器侧安全配置配合；
+- 只访问控制柜 Standard 数字 IO，不访问工具端 IO、可配置 IO 或安全 IO；
+- `set_do` 不修改输出 runstate；
+- 只有 `StandardOutputRunState::None` 的通道允许写入，否则返回
+  `output_managed_by_runstate`；
+- 普通访问不会调用会重置全部输出配置的
+  `setDigitalOutputRunstateDefault()`；
+- 模拟量 IO 涉及 domain、单位和量程，当前 JSON 接口不开放；
+- gRPC/JSON 返回成功不代表目标 IO 具备功能安全等级；
+- 真实写测试前应确认通道用途、负载、电气隔离、默认电平和控制器程序所有权。

cmvr-es/devices/arm/aubo_arm/aubo_arm.h

@@ -2,6 +2,8 @@
 #define CMVR_ES_AUBO_ARM_H
 
 #include <atomic>
+#include <cstdint>
+#include <functional>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -21,6 +23,8 @@ public:
     std::string typeName() const override { return "AuboARM"; }
     bool init() override;
     bool stop() override;
+    bool executeJsonCommand(const std::string& request_json,
+                            std::string& response_json) override;
 
     RobotModel getRobotModel() const override { return model_; }
     std::size_t getDof() const override { return model_.dof; }
@@ -28,27 +32,22 @@ public:
     JointGroupState getJointState() const override;
     CartesianPose getTcpPose(FrameType frame = FrameType::Base) const override;
     RobotMode getRobotMode() const override;
-    SafetyMode getSafetyMode() const override { return SafetyMode::Normal; }
+    SafetyMode getSafetyMode() const override;
-    ControlMode getControlMode() const override { return servo_mode_.load() ? ControlMode::Servo : ControlMode::Position; }
+    ControlMode getControlMode() const override;
+    bool supportsActionQueueMotion() const noexcept override { return true; }
 
     Result torqueOn() override;
+    Result torqueOn(
+        const std::function<bool()>& cancellation_requested) override;
     Result torqueOff() override;
     Result calibrateZeroQ(const std::string& joint_name) override;
     Result emergencyStop() override;
-    Result protectiveStop() override { return emergencyStop(); }
+    Result protectiveStop() override;
-    Result recoverProtectiveStop(
-        const JointTrajectory&,
-        const MotionOptions&) override
-    {
-        return Result::failure(
-            ArmErrorCode::UnsupportedCommand,
-            "protective recovery is not implemented for AuboArm");
-    }
     Result setSpeedScaling(double scaling) override;
     double getSpeedScaling() const override { return speed_scaling_; }
-    bool isProtectiveStopped() const override { return false; }
+    bool isProtectiveStopped() const override;
-    bool isEmergencyStopped() const override { return emergency_stopped_; }
+    bool isEmergencyStopped() const override;
-    bool isFault() const override { return false; }
+    bool isFault() const override;
 
     Result moveJ(const JointPositionCommand& target, const MotionOptions& options) override;
     Result speedJ(const JointVelocityCommand& velocity, double acceleration, double duration) override;
@@ -72,8 +71,8 @@ public:
     Result powerOff() override { return torqueOff(); }
     Result brakeRelease() override { return torqueOn(); }
     Result shutdown() override;
-    Result clearFault() override { return Result::success(); }
+    Result clearFault() override;
-    Result unlockProtectiveStop() override { return Result::success(); }
+    Result unlockProtectiveStop() override;
     Result loadProgram(const std::string& program_name) override;
     Result playProgram() override;
     Result pauseProgram() override;
@@ -86,16 +85,27 @@ public:
     CartesianPose fk(const std::string& base_link, const std::string& ee_link) override;
     CartesianPose fk(bool is_tcp = true) override;
     CartesianVelocity getSpeedLCommandTwistBase() const override { return {}; }
-    bool busy() const override { return busy_.load(); }
+    bool busy() const override;
 
 private:
+    enum class MotionStopKind {
+        Automatic,
+        Joint,
+        Linear,
+    };
+
     Result unsupported_(const std::string& name) const;
     bool validDof_(std::size_t size, std::string& error) const;
     Result ensureConnected_(const std::string& context) const;
+    Result ensureMotionReady_(const std::string& context,
+                              std::uint64_t& safety_epoch) const;
+    Result completeSafetyRecovery_(const std::string& context,
+                                   std::uint64_t expected_safety_epoch);
+    Result unlockProtectiveStop_(
+        std::optional<std::uint64_t> expected_safety_epoch);
+    Result stopMotion_(MotionStopKind kind, double acceleration);
 
-#if defined(CMVR_HAS_AUBO_SDK)
     struct SdkState;
-#endif
 
 private:
     config::RobotArmConfig cfg_;
@@ -110,12 +120,10 @@ private:
     std::atomic<bool> connected_{false};
     std::atomic<bool> busy_{false};
     std::atomic<bool> servo_mode_{false};
-    bool emergency_stopped_{false};
+    std::atomic<bool> emergency_stopped_{false};
     mutable std::mutex mutex_;
 
-#if defined(CMVR_HAS_AUBO_SDK)
     std::unique_ptr<SdkState> sdk_;
-#endif
 };
 
 } // namespace cmvr::device

cmvr-es/devices/arm/aubo_arm/aubo_motion_result.h

@@ -0,0 +1,45 @@
+#ifndef CMVR_ES_AUBO_MOTION_RESULT_H
+#define CMVR_ES_AUBO_MOTION_RESULT_H
+
+namespace cmvr::device::aubo_internal {
+
+enum class MotionCommandOutcome {
+    CompletedWithoutMotion,
+    CompletedAfterMotion,
+    Cancelled,
+    SubmitFailed,
+    CompletionFailed,
+};
+
+enum class MotionWaitResult {
+    Completed,
+    Cancelled,
+    Failed,
+};
+
+template <typename WaitForCompletion>
+MotionCommandOutcome resolveMotionCommand(
+    const int return_code,
+    const int success_code,
+    const int request_ignore_code,
+    WaitForCompletion&& wait_for_completion)
+{
+    if (return_code == request_ignore_code) {
+        return MotionCommandOutcome::CompletedWithoutMotion;
+    }
+    if (return_code != success_code) {
+        return MotionCommandOutcome::SubmitFailed;
+    }
+    const auto wait_result = wait_for_completion();
+    if (wait_result == MotionWaitResult::Cancelled) {
+        return MotionCommandOutcome::Cancelled;
+    }
+    if (wait_result != MotionWaitResult::Completed) {
+        return MotionCommandOutcome::CompletionFailed;
+    }
+    return MotionCommandOutcome::CompletedAfterMotion;
+}
+
+} // namespace cmvr::device::aubo_internal
+
+#endif // CMVR_ES_AUBO_MOTION_RESULT_H

cmvr-es/devices/arm/aubo_arm/aubo_motion_state.h

@@ -0,0 +1,369 @@
+#ifndef CMVR_ES_AUBO_MOTION_STATE_H
+#define CMVR_ES_AUBO_MOTION_STATE_H
+
+#include <algorithm>
+#include <chrono>
+#include <condition_variable>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+
+namespace cmvr::device::aubo_internal {
+
+enum class MotionKind {
+    None,
+    Joint,
+    Linear,
+};
+
+struct MotionToken {
+    std::uint64_t generation{0};
+    MotionKind kind{MotionKind::None};
+
+    bool valid() const noexcept
+    {
+        return generation != 0 && kind != MotionKind::None;
+    }
+};
+
+enum class MotionStartStatus {
+    Started,
+    Invalid,
+    Busy,
+    Stopping,
+    Blocked,
+};
+
+struct MotionStartResult {
+    MotionStartStatus status{MotionStartStatus::Busy};
+    MotionToken token;
+
+    bool started() const noexcept
+    {
+        return status == MotionStartStatus::Started;
+    }
+};
+
+enum class MotionFinishMode {
+    RestorePrevious,
+    Clear,
+    Retain,
+};
+
+enum class StopStartStatus {
+    Started,
+    AlreadyStopping,
+};
+
+enum class StopWaitStatus {
+    Completed,
+    Failed,
+    Timeout,
+};
+
+class StopCompletion final {
+public:
+    StopWaitStatus waitFor(const std::chrono::milliseconds timeout)
+    {
+        std::unique_lock lock(mutex_);
+        if (!cv_.wait_for(lock, timeout, [this]() { return completed_; })) {
+            return StopWaitStatus::Timeout;
+        }
+        return succeeded_
+            ? StopWaitStatus::Completed
+            : StopWaitStatus::Failed;
+    }
+
+private:
+    friend class MotionState;
+
+    void finish(const bool succeeded)
+    {
+        {
+            std::lock_guard lock(mutex_);
+            succeeded_ = succeeded;
+            completed_ = true;
+        }
+        cv_.notify_all();
+    }
+
+    std::mutex mutex_;
+    std::condition_variable cv_;
+    bool completed_{false};
+    bool succeeded_{false};
+};
+
+struct StopRequest {
+    StopStartStatus status{StopStartStatus::AlreadyStopping};
+    MotionKind kind{MotionKind::None};
+    MotionToken active_token;
+    bool tracked_motion{false};
+    std::shared_ptr<StopCompletion> completion;
+
+    bool started() const noexcept
+    {
+        return status == StopStartStatus::Started;
+    }
+};
+
+struct SafetyCancelResult {
+    MotionKind kind{MotionKind::None};
+    MotionToken active_token;
+    bool tracked_motion{false};
+};
+
+// Tracks one direct AUBO motion owner. MoveJ/MoveL submissions are serialized
+// through the vendor call. Speed calls release the outer mutex before their
+// potentially blocking SDK call, so the generation cancellation below also
+// closes the stop-vs-speed-submission race.
+class MotionState final {
+public:
+    MotionStartResult begin(
+        const MotionKind kind,
+        const bool replace_retained_same_kind = false)
+    {
+        std::lock_guard lock(mutex_);
+        if (kind == MotionKind::None) {
+            return {MotionStartStatus::Invalid, {}};
+        }
+        if (stop_in_progress_) {
+            return {MotionStartStatus::Stopping, {}};
+        }
+        if (blocked_) {
+            return {MotionStartStatus::Blocked, {}};
+        }
+        if (owner_active_) {
+            return {MotionStartStatus::Busy, {}};
+        }
+        if (last_kind_ != MotionKind::None &&
+            (!replace_retained_same_kind || last_kind_ != kind)) {
+            return {MotionStartStatus::Busy, {}};
+        }
+
+        MotionToken token{++next_generation_, kind};
+        owner_active_ = true;
+        active_token_ = token;
+        previous_kind_ = last_kind_;
+        return {MotionStartStatus::Started, token};
+    }
+
+    void finish(
+        const MotionToken& token,
+        const MotionFinishMode mode = MotionFinishMode::RestorePrevious)
+    {
+        std::lock_guard lock(mutex_);
+        if (!owner_active_ ||
+            active_token_.generation != token.generation) {
+            return;
+        }
+
+        owner_active_ = false;
+        active_token_ = {};
+        if (!stop_in_progress_ && !blocked_) {
+            if (mode == MotionFinishMode::Retain) {
+                last_kind_ = token.kind;
+            } else if (mode == MotionFinishMode::Clear) {
+                last_kind_ = MotionKind::None;
+            } else {
+                last_kind_ = previous_kind_;
+            }
+        }
+        previous_kind_ = MotionKind::None;
+        owner_finished_cv_.notify_all();
+    }
+
+    void failMotion(const MotionToken& token)
+    {
+        std::lock_guard lock(mutex_);
+        if (!owner_active_ ||
+            active_token_.generation != token.generation) {
+            return;
+        }
+        owner_active_ = false;
+        active_token_ = {};
+        last_kind_ = token.kind;
+        previous_kind_ = MotionKind::None;
+        blocked_ = true;
+        owner_finished_cv_.notify_all();
+    }
+
+    StopRequest beginStop(
+        const MotionKind requested_kind = MotionKind::None)
+    {
+        std::lock_guard lock(mutex_);
+        if (stop_in_progress_) {
+            return {
+                StopStartStatus::AlreadyStopping,
+                MotionKind::None,
+                {},
+                false,
+                active_stop_completion_};
+        }
+
+        auto completion = std::make_shared<StopCompletion>();
+        stop_in_progress_ = true;
+        active_stop_completion_ = completion;
+        const MotionToken active = owner_active_
+            ? active_token_
+            : MotionToken{};
+        // A successful speedJoint/speedLine call may keep the controller in
+        // velocity mode after the SDK function returns, even when the target
+        // velocity is zero and the robot currently reports steady. Retain that
+        // motion kind until a typed stop has been acknowledged.
+        const bool tracked_motion =
+            active.valid() || last_kind_ != MotionKind::None;
+        if (active.valid()) {
+            cancelled_generation_ = std::max(
+                cancelled_generation_, active.generation);
+        }
+        MotionKind kind = MotionKind::None;
+        if (active.valid()) {
+            kind = active.kind;
+        } else if (last_kind_ != MotionKind::None) {
+            kind = last_kind_;
+        } else if (requested_kind != MotionKind::None) {
+            kind = requested_kind;
+        } else {
+            kind = last_kind_;
+        }
+        if (kind != MotionKind::None) {
+            last_kind_ = kind;
+        }
+        return {
+            StopStartStatus::Started,
+            kind,
+            active,
+            tracked_motion,
+            completion};
+    }
+
+    SafetyCancelResult cancelActiveForSafety()
+    {
+        std::lock_guard lock(mutex_);
+        const MotionToken active = owner_active_
+            ? active_token_
+            : MotionToken{};
+        if (active.valid()) {
+            cancelled_generation_ = std::max(
+                cancelled_generation_, active.generation);
+        }
+
+        const MotionKind kind = active.valid()
+            ? active.kind
+            : last_kind_;
+        if (kind != MotionKind::None) {
+            last_kind_ = kind;
+        }
+        // This block is intentionally independent of stop_in_progress_. The
+        // monitor may observe the safety event while a software Stop owns the
+        // stop transaction; either way no new motion may enter.
+        blocked_ = true;
+        owner_finished_cv_.notify_all();
+        return {kind, active, active.valid() || kind != MotionKind::None};
+    }
+
+    bool cancelled(const MotionToken& token) const
+    {
+        std::lock_guard lock(mutex_);
+        return token.valid() &&
+               token.generation <= cancelled_generation_;
+    }
+
+    bool waitForOwnerExit(
+        const MotionToken& token,
+        const std::chrono::milliseconds timeout)
+    {
+        if (!token.valid()) {
+            return true;
+        }
+        std::unique_lock lock(mutex_);
+        return owner_finished_cv_.wait_for(
+            lock,
+            timeout,
+            [this, &token]() {
+                return !owner_active_ ||
+                       active_token_.generation != token.generation;
+            });
+    }
+
+    bool ownerActive(const MotionToken& token) const
+    {
+        if (!token.valid()) {
+            return false;
+        }
+        std::lock_guard lock(mutex_);
+        return owner_active_ &&
+               active_token_.generation == token.generation;
+    }
+
+    StopWaitStatus waitForStopCompletion(
+        const StopRequest& request,
+        const std::chrono::milliseconds timeout) const
+    {
+        if (!request.completion) {
+            return StopWaitStatus::Failed;
+        }
+        return request.completion->waitFor(timeout);
+    }
+
+    bool completeStop()
+    {
+        std::shared_ptr<StopCompletion> completion;
+        {
+            std::lock_guard lock(mutex_);
+            if (owner_active_) {
+                return false;
+            }
+            stop_in_progress_ = false;
+            blocked_ = false;
+            active_token_ = {};
+            last_kind_ = MotionKind::None;
+            previous_kind_ = MotionKind::None;
+            completion = std::move(active_stop_completion_);
+            owner_finished_cv_.notify_all();
+        }
+        if (completion) {
+            completion->finish(true);
+        }
+        return true;
+    }
+
+    void failStop()
+    {
+        std::shared_ptr<StopCompletion> completion;
+        {
+            std::lock_guard lock(mutex_);
+            stop_in_progress_ = false;
+            blocked_ = true;
+            completion = std::move(active_stop_completion_);
+            owner_finished_cv_.notify_all();
+        }
+        if (completion) {
+            completion->finish(false);
+        }
+    }
+
+    bool busy() const
+    {
+        std::lock_guard lock(mutex_);
+        return owner_active_ || stop_in_progress_ || blocked_ ||
+               last_kind_ != MotionKind::None;
+    }
+
+private:
+    mutable std::mutex mutex_;
+    std::condition_variable owner_finished_cv_;
+    std::uint64_t next_generation_{0};
+    std::uint64_t cancelled_generation_{0};
+    MotionToken active_token_;
+    MotionKind last_kind_{MotionKind::None};
+    MotionKind previous_kind_{MotionKind::None};
+    std::shared_ptr<StopCompletion> active_stop_completion_;
+    bool owner_active_{false};
+    bool stop_in_progress_{false};
+    bool blocked_{false};
+};
+
+} // namespace cmvr::device::aubo_internal
+
+#endif // CMVR_ES_AUBO_MOTION_STATE_H

cmvr-es/devices/arm/aubo_arm/aubo_safety_state.h

@@ -0,0 +1,260 @@
+#ifndef CMVR_ES_AUBO_SAFETY_STATE_H
+#define CMVR_ES_AUBO_SAFETY_STATE_H
+
+#include <cstdint>
+#include <mutex>
+#include <optional>
+
+namespace cmvr::device::aubo_internal {
+
+// This is deliberately richer than RobotArm::SafetyMode. Recovery and
+// Violation have no lossless public mapping, but both must remain fail-closed.
+enum class SafetyCondition {
+    Unknown,
+    Normal,
+    Reduced,
+    Recovery,
+    Violation,
+    ProtectiveStop,
+    SafeguardStop,
+    SystemEmergencyStop,
+    RobotEmergencyStop,
+    SoftwareEmergencyStop,
+    Fault,
+};
+
+inline bool isMotionSafe(const SafetyCondition condition) noexcept
+{
+    return condition == SafetyCondition::Normal ||
+           condition == SafetyCondition::Reduced;
+}
+
+inline bool isHardwareEmergencyStop(
+    const SafetyCondition condition) noexcept
+{
+    return condition == SafetyCondition::SystemEmergencyStop ||
+           condition == SafetyCondition::RobotEmergencyStop;
+}
+
+inline SafetyCondition effectiveSafetyCondition(
+    const SafetyCondition reported_condition,
+    const int robot_emergency_stop_source) noexcept
+{
+    // The source bitmask describes robot-side inputs such as the control box
+    // and teach pendant. Keep the SDK's SystemEmergencyStop classification for
+    // the separate external system-emergency input.
+    if (reported_condition == SafetyCondition::SystemEmergencyStop) {
+        return SafetyCondition::SystemEmergencyStop;
+    }
+    if (robot_emergency_stop_source < 0) {
+        return SafetyCondition::Unknown;
+    }
+    if (robot_emergency_stop_source != 0) {
+        return SafetyCondition::RobotEmergencyStop;
+    }
+    return reported_condition;
+}
+
+inline bool needsProtectiveUnlock(
+    const SafetyCondition condition) noexcept
+{
+    return condition == SafetyCondition::ProtectiveStop ||
+           condition == SafetyCondition::Violation;
+}
+
+inline bool needsInterfaceBoardRestart(
+    const SafetyCondition condition) noexcept
+{
+    return condition == SafetyCondition::SystemEmergencyStop ||
+           condition == SafetyCondition::RobotEmergencyStop ||
+           condition == SafetyCondition::Fault;
+}
+
+struct SafetyPermit {
+    std::uint64_t epoch{0};
+
+    bool valid() const noexcept { return epoch != 0; }
+};
+
+struct RecoveryToken {
+    std::uint64_t epoch{0};
+
+    bool valid() const noexcept { return epoch != 0; }
+};
+
+struct SafetySnapshot {
+    SafetyCondition observed{SafetyCondition::Unknown};
+    SafetyCondition latched_reason{SafetyCondition::Unknown};
+    std::uint64_t epoch{0};
+    bool latched{false};
+    bool recovery_in_progress{false};
+    bool software_emergency_stop_latched{false};
+};
+
+inline bool shouldAutoRecoverHardwareEmergencyStop(
+    const SafetySnapshot& snapshot,
+    const bool hardware_emergency_stop_was_observed,
+    const int current_emergency_stop_source,
+    const bool auto_power_on_enabled,
+    const bool automatic_recovery_suppressed) noexcept
+{
+    return auto_power_on_enabled && !automatic_recovery_suppressed &&
+           hardware_emergency_stop_was_observed && snapshot.latched &&
+           !snapshot.recovery_in_progress &&
+           !snapshot.software_emergency_stop_latched &&
+           isHardwareEmergencyStop(snapshot.latched_reason) &&
+           isMotionSafe(snapshot.observed) &&
+           current_emergency_stop_source == 0;
+}
+
+// Hardware safety is an event, not a level. Once an unsafe state has been
+// observed, returning to Normal only changes the observed level. A separate,
+// explicit recovery must prove that the old controller operation has been
+// cancelled before new motion permits can be issued.
+class SafetyState final {
+public:
+    SafetyState() = default;
+
+    void observe(const SafetyCondition condition)
+    {
+        std::lock_guard lock(mutex_);
+        const bool changed = observed_ != condition;
+        observed_ = condition;
+        if (condition == SafetyCondition::SoftwareEmergencyStop) {
+            software_emergency_stop_latched_ = true;
+        }
+        if (isMotionSafe(condition)) {
+            return;
+        }
+
+        const bool preserve_hardware_estop_latch =
+            condition == SafetyCondition::Unknown && latched_ &&
+            isHardwareEmergencyStop(latched_reason_) &&
+            !software_emergency_stop_latched_;
+        if (!latched_ || recovery_in_progress_ ||
+            (changed && !preserve_hardware_estop_latch)) {
+            ++epoch_;
+        }
+        latched_ = true;
+        recovery_in_progress_ = false;
+        // A physical E-stop sample can continue arriving after a software
+        // E-stop request. Keep the software stop independently latched so a
+        // later physical-input release can never clear it automatically.
+        if (software_emergency_stop_latched_) {
+            latched_reason_ = SafetyCondition::SoftwareEmergencyStop;
+        } else if (!preserve_hardware_estop_latch) {
+            latched_reason_ = condition;
+        }
+    }
+
+    std::optional<SafetyPermit> tryPermit() const
+    {
+        std::lock_guard lock(mutex_);
+        if (latched_ || !isMotionSafe(observed_)) {
+            return std::nullopt;
+        }
+        return SafetyPermit{epoch_};
+    }
+
+    bool validate(const SafetyPermit permit) const
+    {
+        std::lock_guard lock(mutex_);
+        return permit.valid() && permit.epoch == epoch_ && !latched_ &&
+               isMotionSafe(observed_);
+    }
+
+    std::optional<RecoveryToken> beginRecovery(
+        const std::uint64_t expected_epoch)
+    {
+        std::lock_guard lock(mutex_);
+        if (expected_epoch == 0 || expected_epoch != epoch_ || !latched_ ||
+            recovery_in_progress_ ||
+            !isMotionSafe(observed_)) {
+            return std::nullopt;
+        }
+        recovery_in_progress_ = true;
+        return RecoveryToken{epoch_};
+    }
+
+    bool completeRecovery(
+        const RecoveryToken token,
+        const bool robot_running,
+        const bool controller_idle,
+        const bool cancellation_confirmed)
+    {
+        std::lock_guard lock(mutex_);
+        if (!token.valid() || token.epoch != epoch_ || !latched_ ||
+            !recovery_in_progress_ || !isMotionSafe(observed_) ||
+            !robot_running || !controller_idle ||
+            !cancellation_confirmed) {
+            return false;
+        }
+
+        latched_ = false;
+        recovery_in_progress_ = false;
+        latched_reason_ = SafetyCondition::Unknown;
+        software_emergency_stop_latched_ = false;
+        ++epoch_;
+        return true;
+    }
+
+    // The caller may clear the physical E-stop latch only after it has powered
+    // the controller, released the brakes, and then re-confirmed an empty,
+    // steady controller in Running mode. This never authorizes replaying the
+    // old target, runtime program, or servo session.
+    bool completeHardwareEmergencyStopRecovery(
+        const RecoveryToken token,
+        const bool robot_running,
+        const bool controller_idle,
+        const bool cancellation_confirmed)
+    {
+        std::lock_guard lock(mutex_);
+        if (!token.valid() || token.epoch != epoch_ || !latched_ ||
+            !recovery_in_progress_ ||
+            software_emergency_stop_latched_ ||
+            !isHardwareEmergencyStop(latched_reason_) ||
+            !isMotionSafe(observed_) || !robot_running || !controller_idle ||
+            !cancellation_confirmed) {
+            return false;
+        }
+
+        latched_ = false;
+        recovery_in_progress_ = false;
+        latched_reason_ = SafetyCondition::Unknown;
+        ++epoch_;
+        return true;
+    }
+
+    void failRecovery(const RecoveryToken token)
+    {
+        std::lock_guard lock(mutex_);
+        if (token.valid() && token.epoch == epoch_) {
+            recovery_in_progress_ = false;
+        }
+    }
+
+    SafetySnapshot snapshot() const
+    {
+        std::lock_guard lock(mutex_);
+        return {
+            observed_,
+            latched_reason_,
+            epoch_,
+            latched_,
+            recovery_in_progress_,
+            software_emergency_stop_latched_};
+    }
+
+private:
+    mutable std::mutex mutex_;
+    SafetyCondition observed_{SafetyCondition::Unknown};
+    SafetyCondition latched_reason_{SafetyCondition::Unknown};
+    std::uint64_t epoch_{1};
+    bool latched_{false};
+    bool recovery_in_progress_{false};
+    bool software_emergency_stop_latched_{false};
+};
+
+} // namespace cmvr::device::aubo_internal
+
+#endif // CMVR_ES_AUBO_SAFETY_STATE_H

cmvr-es/devices/arm/aubo_arm/aubo_torque_on_result.h

@@ -0,0 +1,50 @@
+#ifndef CMVR_ES_AUBO_TORQUE_ON_RESULT_H
+#define CMVR_ES_AUBO_TORQUE_ON_RESULT_H
+
+#include <optional>
+#include <string>
+#include <utility>
+
+#include "common/types/arm/arm_types.h"
+
+namespace cmvr::device::aubo_internal {
+
+inline Result preservePrimaryTorqueOnFailure(
+    Result primary_failure,
+    const std::optional<Result>& cancellation_outcome)
+{
+    if (!cancellation_outcome.has_value() ||
+        cancellation_outcome->message.empty()) {
+        return primary_failure;
+    }
+
+    if (!primary_failure.message.empty()) {
+        primary_failure.message += "; ";
+    }
+    primary_failure.message +=
+        "cancellation handling: " + cancellation_outcome->message;
+    return primary_failure;
+}
+
+template <typename Mutation, typename FailureResult,
+          typename CancellationOutcome>
+std::optional<Result> runTorqueOnControllerMutation(
+    const int success_code,
+    Mutation&& mutation,
+    FailureResult&& failure_result,
+    CancellationOutcome&& cancellation_outcome)
+{
+    const int return_code = std::forward<Mutation>(mutation)();
+    if (return_code != success_code) {
+        auto primary_failure =
+            std::forward<FailureResult>(failure_result)(return_code);
+        return preservePrimaryTorqueOnFailure(
+            std::move(primary_failure),
+            std::forward<CancellationOutcome>(cancellation_outcome)());
+    }
+    return std::forward<CancellationOutcome>(cancellation_outcome)();
+}
+
+} // namespace cmvr::device::aubo_internal
+
+#endif // CMVR_ES_AUBO_TORQUE_ON_RESULT_H

cmvr-es/devices/arm/huayan_arm/CMakeLists.txt

@@ -1,5 +1,7 @@
 add_library(huayan_arm SHARED huayan_arm.cpp)
 
+find_package(Threads REQUIRED)
+
 set(HUAYAN_ARM_SDK_DIR ${CMAKE_SOURCE_DIR}/dependency/${ARCH}/third_party/huayan_arm/v1.0)
 
 target_include_directories(huayan_arm
@@ -20,6 +22,7 @@ target_link_libraries(huayan_arm
         PRIVATE
         HR_Pro
         glog
+        Threads::Threads
 )
 
 add_library(cmvr_es::device::huayan_arm ALIAS huayan_arm)

cmvr-es/devices/arm/robot_arm.h

@@ -2,6 +2,7 @@
 #define CMVR_ES_ROBOT_ARM_H
 
 #include <cstddef>
+#include <functional>
 #include <memory>
 #include <optional>
 #include <string>
@@ -28,15 +29,57 @@ public:
     virtual SafetyMode getSafetyMode() const = 0;
     virtual ControlMode getControlMode() const = 0;
 
+    // Queued actions require synchronous completion, cooperative cancellation
+    // at the final device-submission boundary, and a bounded typed Stop which
+    // returns success only after controller idle is confirmed. Backends must
+    // opt in only after all of these semantics have been validated.
+    virtual bool supportsActionQueueMotion() const noexcept { return false; }
+
+    // ArmTeleop requires an explicitly reviewed group-servo implementation.
+    // Existing and vendor arms remain unavailable until their implementations
+    // override this capability after timing and partial-write validation.
+    virtual bool supportsTeleopGroupServo() const noexcept { return false; }
+    virtual JointEffortSource jointEffortSource() const noexcept
+    {
+        return JointEffortSource::Unspecified;
+    }
+
     virtual Result torqueOn() = 0;
+    // Long-running startup implementations may cooperatively observe loss of
+    // their control lease. Backends which have not adopted cancellation retain
+    // the legacy behavior, while still rejecting an already-cancelled request
+    // before entering the vendor API.
+    virtual Result torqueOn(
+        const std::function<bool()>& cancellation_requested)
+    {
+        if (cancellation_requested) {
+            try {
+                if (cancellation_requested()) {
+                    return Result::failure(
+                        ArmErrorCode::CommandRejected,
+                        "torqueOn cancelled before execution");
+                }
+            } catch (...) {
+                return Result::failure(
+                    ArmErrorCode::CommandRejected,
+                    "torqueOn cancellation check failed");
+            }
+        }
+        return torqueOn();
+    }
     virtual Result torqueOff() = 0;
     virtual Result calibrateZeroQ(const std::string& joint_name) = 0;
 
     virtual Result emergencyStop() = 0;
     virtual Result protectiveStop() = 0;
     virtual Result recoverProtectiveStop(
-        const JointTrajectory& path,
+        const JointTrajectory&,
-        const MotionOptions& options) = 0;
+        const MotionOptions&)
+    {
+        return Result::failure(
+            ArmErrorCode::UnsupportedCommand,
+            "protective recovery is unsupported by this RobotArm");
+    }
     virtual Result setSpeedScaling(double scaling) = 0;
     virtual double getSpeedScaling() const = 0;
     virtual bool isProtectiveStopped() const = 0;
@@ -76,6 +119,27 @@ public:
                                FrameType frame = FrameType::Base) = 0;
     virtual Result stopServoMode() = 0;
 
+    // Torque streaming is optional. Backends which do not provide an atomic
+    // group torque port retain source compatibility and fail explicitly.
+    virtual Result startTorqueMode(const TorqueServoOptions&)
+    {
+        return Result::failure(
+            ArmErrorCode::UnsupportedCommand,
+            "torque servo mode is unsupported by this RobotArm");
+    }
+    virtual Result servoTorque(const JointTorqueCommand&)
+    {
+        return Result::failure(
+            ArmErrorCode::UnsupportedCommand,
+            "torque servo command is unsupported by this RobotArm");
+    }
+    virtual Result stopTorqueMode()
+    {
+        return Result::failure(
+            ArmErrorCode::UnsupportedCommand,
+            "torque servo mode is unsupported by this RobotArm");
+    }
+
     virtual Result connect(const std::string& ip, int port) = 0;
     virtual Result disconnect() = 0;
     virtual bool isConnected() const = 0;

cmvr-es/devices/arm/ume_robot_arm/CMakeLists.txt

@@ -0,0 +1,23 @@
+add_library(ume_robot_arm SHARED
+        src/damiao_mit_codec.cpp
+        src/damiao_can_fd_chain.cpp
+        src/ume_robot_arm.cpp
+)
+
+target_include_directories(ume_robot_arm PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_link_libraries(ume_robot_arm
+        PUBLIC
+        cmvr_es::device::canbus
+        cmvr_es::ik_solver
+        cmvr_es::common
+        PRIVATE
+        cmvr_es::proto
+        cmvr_es::logging
+        pthread
+)
+
+add_library(cmvr_es::device::ume_robot_arm ALIAS ume_robot_arm)
+install(TARGETS ume_robot_arm LIBRARY DESTINATION lib)

cmvr-es/devices/biohead/abstract_biohead.h

@@ -1,6 +1,12 @@
 #ifndef ABSTRACT_BIOHEAD_H
 #define ABSTRACT_BIOHEAD_H
 #pragma once
+
+#include <atomic>
+#include <cstdint>
+#include <mutex>
+#include <utility>
+
 #include "../abstract_device.h"
 
 namespace cmvr::device {
@@ -58,6 +64,8 @@ namespace cmvr::device {
     // 抽象头部类
     class AbstractBiohead : public AbstractDevice {
     public:
+        using OperationalToken = std::uint64_t;
+
         AbstractBiohead() = default;
         ~AbstractBiohead() override = default;
 
@@ -76,20 +84,142 @@ namespace cmvr::device {
         virtual void expressionSadness() {};
         virtual void expressionYawn() {};
 
+        // Capture under the process-wide StopAll admission gate. Commands
+        // from an older generation are rejected after operational stop.
+        OperationalToken beginOperationalActivity() const noexcept
+        {
+            std::lock_guard lock(operational_mutex_);
+            return operational_generation_;
+        }
+
+        virtual bool setExpressionPoseIfCurrent(
+            OperationalToken token,
+            FacialExpressionState& expression_state,
+            double vel = 0.5,
+            double acc = 0.1)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                setExpressionPose(expression_state, vel, acc);
+            });
+        }
+
+        virtual bool streamFacialPoseIfCurrent(
+            OperationalToken token,
+            FacialExpressionState& expression_state,
+            double vel,
+            double acc)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                streamFacialPose(expression_state, vel, acc);
+            });
+        }
+
+        virtual bool speakStartIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                speakstart();
+            });
+        }
+
+        virtual bool expressionHappyIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                expressionHappy();
+            });
+        }
+
+        virtual bool expressionSurprisedIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                expressionSurprised();
+            });
+        }
+
+        virtual bool expressionTiredIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                expressionTired();
+            });
+        }
+
+        virtual bool expressionAngryIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                expressionAngry();
+            });
+        }
+
+        virtual bool expressionSadnessIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                expressionSadness();
+            });
+        }
+
+        virtual bool expressionYawnIfCurrent(OperationalToken token)
+        {
+            return runIfOperationalActivityCurrent_(token, [&] {
+                expressionYawn();
+            });
+        }
+
+        // Stops expression motion and speaking without closing the device.
+        // True confirms that old activity was fenced and the hold completed.
+        virtual bool stopOperationalActivity()
+        {
+            invalidateOperationalActivities_();
+            speakstop();
+            (void)runOperationalStop_([&] { eStop(); });
+            return false;
+        }
+
         FacialExpressionState expression_state_;
-        std::atomic<bool> emergency_stop_requested = false;
+        // Legacy gRPC streaming cancellation flag retained while callers move
-
+        // to the operational-generation fence above.
+        std::atomic<bool> emergency_stop_requested{false};
+    protected:
+        template <typename Operation>
+        bool runIfOperationalActivityCurrent_(
+            const OperationalToken token,
+            Operation&& operation)
+        {
+            std::lock_guard lock(operational_mutex_);
+            if (token == 0U || token != operational_generation_) {
+                return false;
+            }
+            std::forward<Operation>(operation)();
+            return true;
+        }
 
+        template <typename Operation>
+        bool runOperationalStop_(Operation&& operation)
+        {
+            std::lock_guard lock(operational_mutex_);
+            std::forward<Operation>(operation)();
+            return true;
+        }
 
+        bool operationalActivityCurrent_(
+            const OperationalToken token) const noexcept
+        {
+            std::lock_guard lock(operational_mutex_);
+            return token != 0U && token == operational_generation_;
+        }
 
+        void invalidateOperationalActivities_() noexcept
+        {
+            std::lock_guard lock(operational_mutex_);
+            ++operational_generation_;
+            if (operational_generation_ == 0U) {
+                ++operational_generation_;
+            }
+        }
 
+    private:
+        mutable std::mutex operational_mutex_;
+        OperationalToken operational_generation_{1U};
     };
 
 } // namespace cmvr::device
 
 #endif // ABSTRACT_BIOHEAD_H
-
-
-
-
-

cmvr-es/devices/camera/abstract_camera.h

@@ -131,6 +131,12 @@ namespace cmvr::device {
 
         virtual bool startStreaming() {return true;}
         virtual void stopStreaming() {}
+        virtual bool startOperationalActivity() { return start(); }
+        // Stops activity started by CameraService::StartCamera without
+        // tearing down the device lifecycle. Implementations must return true
+        // only after the camera is quiescent and a later start() can resume it
+        // without another init(). Unsupported backends fail closed.
+        virtual bool stopOperationalActivity() { return false; }
         virtual bool controlPtz(PtzCommand command, bool stop, int speed) {
             (void)command;
             (void)stop;

cmvr-es/devices/canbus/can_client/pcan/pcan_client.cc

@@ -1,205 +0,0 @@
-#include "common/base/logging/logger.h"
-#include "pcan_client.h"
-
-#include <fcntl.h>
-#include <iostream>
-#include <thread>
-#include <chrono>
-#include "cmvr/msgs/error_code.pb.h"
-#include "cstdio"
-
-namespace cmvr {
-    namespace device {
-#define CAN_ID_MASK 0x1FFFF800U  // can_filter mask
-#define CAN_STANDARD_MAX_ID 0x7FFU
-
-        using cmvr::msgs::ErrorCode;
-        using cmvr::msgs::CANCardParameter;
-        PcanClient::PcanClient(const config::SocketCanConfig &cfg) {
-            port_ = static_cast<CANCardParameter::CANChannelId>(cfg.channel_id());
-            interface_ = CANCardParameter::NATIVE;
-            enable_can_err_check_ = false;
-        }
-
-        PcanClient::~PcanClient() {
-            stop();
-        }
-
-        bool PcanClient::init() {
-
-
-#define LPCSTR const char*
-            /// <summary>
-            /// Sets a TPCANDevice value. The input can be numeric, in hexadecimal or decimal format, or as string denoting
-            /// a TPCANDevice value name.
-            /// </summary>
-            LPCSTR DeviceType = "PCAN_PCI";
-            /// <summary>
-            /// Sets value in range of a double. The input can be hexadecimal or decimal format.
-            /// </summary>
-            LPCSTR DeviceID = "";
-            /// <summary>
-            /// Sets a zero-based index value in range of a double. The input can be hexadecimal or decimal format.
-            /// </summary>
-            LPCSTR ControllerNumber = "";
-            /// <summary>
-            /// Sets a valid Internet Protocol address
-            /// </summary>
-            LPCSTR IPAddress = "";
-            /// <summary>
-            /// Sets a valid GUID for a PCAN device
-            /// </summary>
-            LPCSTR DeviceGUID = "";
-
-
-            char sParameters[260];
-            if (DeviceType != "")
-                snprintf(sParameters, sizeof(sParameters), "%s=%s", LOOKUP_DEVICE_TYPE, DeviceType);
-            if (DeviceID != "")
-            {
-                if (sParameters != "")
-                    snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
-                snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_DEVICE_ID, DeviceID);
-            }
-            if (ControllerNumber != "")
-            {
-                if (sParameters != "")
-                    snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
-                snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_CONTROLLER_NUMBER, ControllerNumber);
-            }
-            if (IPAddress != "")
-            {
-                if (sParameters != "")
-                    snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
-                snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_IP_ADDRESS, IPAddress);
-            }
-
-            if (DeviceGUID != "")
-            {
-                if (sParameters != "")
-                    snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
-                snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_DEVICE_GUID, DeviceGUID);
-            }
-
-            TPCANHandle handle;
-            TPCANStatus stsResult = CAN_LookUpChannel((LPSTR)sParameters, &handle);
-            TPCANStatus ret = CAN_Initialize(PcanHandle, Bitrate);
-            if (ret != PCAN_ERROR_OK) {
-                CMVR_LOG(ERROR) << "send message failed, error code: " << ret;
-                return false;
-            }
-
-            TPCANStatus state = CAN_GetStatus(PcanHandle);
-            if (state & PCAN_ERROR_BUSOFF) {
-                // 进入 bus-off，尝试复位总线
-                CMVR_LOG(ERROR) << "send message failed, error code: " << ret;
-                return false;
-            }
-
-            return true;
-        }
-
-        bool PcanClient::start() {
-            is_started_ = true;
-            return true;
-        }
-
-        bool PcanClient::stop() {
-            if (is_started_) {
-                is_started_ = false;
-                CAN_Uninitialize(dev_handler_);
-                CMVR_LOG(INFO) << "close socket can ok. port:" << port_;
-            }
-            return true;
-        }
-
-        cmvr::msgs::ErrorCode PcanClient::send(const std::vector<CanFrame> &frames, int32_t *const frame_num) {
-            if (frame_num == nullptr) {
-                CMVR_LOG(FATAL) << "frame_num is null";
-            }
-            if (frames.size() != static_cast<size_t>(*frame_num)) {
-                CMVR_LOG(FATAL) << "frames size does not match frame_num";
-            }
-
-            if (!is_started_) {
-                CMVR_LOG(ERROR) << "Nvidia can client has not been initiated! Please init first!";
-                return ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
-            }
-            for (size_t i = 0; i < frames.size() && i < MAX_CAN_SEND_FRAME_LEN; ++i) {
-                if (frames[i].len > CANBUS_MESSAGE_LENGTH || frames[i].len < 0) {
-                    CMVR_LOG(ERROR) << "frames[" << i << "].len = " << frames[i].len
-                            << ", which is not equal to can message data length ("
-                            << CANBUS_MESSAGE_LENGTH << ").";
-                    return ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
-                }
-                if (frames[i].id > CAN_STANDARD_MAX_ID) {
-                    send_frames_[i].ID = (frames[i].id & CAN_EFF_MASK) | CAN_EFF_FLAG;
-                } else {
-                    send_frames_[i].ID = (frames[i].id & CAN_SFF_MASK);
-                }
-                // CMVR_LOG(INFO) << "send can id is " << send_frames_[i].can_id;
-                send_frames_[i].LEN = frames[i].len;
-                std::memcpy(send_frames_[i].DATA, frames[i].data, frames[i].len);
-                send_frames_[i].MSGTYPE = PCAN_MESSAGE_EXTENDED;
-                // Synchronous transmission of CAN messages
-                TPCANStatus ret =  CAN_Write(PcanHandle, &send_frames_[i]);
-                if (ret != PCAN_ERROR_OK) {
-                    CMVR_LOG(ERROR) << "send message failed, error code: " << ret;
-                    return ErrorCode::CAN_CLIENT_ERROR_BASE;
-                }
-            }
-
-            return ErrorCode::OK;
-        }
-
-        cmvr::msgs::ErrorCode PcanClient::receive(std::vector<CanFrame> *const frames, int32_t *const frame_num) {
-              if (!is_started_) {
-                CMVR_LOG(ERROR) << "Nvidia can client is not init! Please init first!";
-                return ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
-            }
-
-            if (*frame_num > MAX_CAN_RECV_FRAME_LEN || *frame_num < 0) {
-                CMVR_LOG(ERROR) << "recv can frame num not in range[0, " << MAX_CAN_RECV_FRAME_LEN
-                        << "], frame_num:" << *frame_num;
-                // TODO(Authors): check the difference of returning frame_num/error_code
-                return ErrorCode::CAN_CLIENT_ERROR_FRAME_NUM;
-            }
-            TPCANTimestamp CANTimeStamp;
-            for (int32_t i = 0; i < *frame_num && i < MAX_CAN_RECV_FRAME_LEN; ++i) {
-                CanFrame cf;
-
-                // We execute the "Read" function of the PCANBasic
-                TPCANStatus ret = CAN_Read(PcanHandle, &recv_frames_[i], &CANTimeStamp);
-                if (ret != PCAN_ERROR_OK) {
-
-                    CMVR_LOG(ERROR) << "receive message failed, error code: " << ret;
-                    return ErrorCode::CAN_CLIENT_ERROR_BASE;
-                }
-                if (recv_frames_[i].LEN > CANBUS_MESSAGE_LENGTH ||
-                    recv_frames_[i].LEN < 0) {
-                    CMVR_LOG(ERROR) << "recv_frames_[" << i
-                            << "].can_dlc = " << recv_frames_[i].LEN
-                            << ", which is not equal to can message data length ("
-                            << CANBUS_MESSAGE_LENGTH << ").";
-                    return ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
-                }
-                if (recv_frames_[i].ID > CAN_STANDARD_MAX_ID) {
-                    cf.id = enable_can_err_check_
-                                ? recv_frames_[i].ID & CAN_EFF_MASK | CAN_ERR_FLAG
-                                : recv_frames_[i].ID & CAN_EFF_MASK;
-                } else {
-                    cf.id = (recv_frames_[i].ID & CAN_SFF_MASK);
-                }
-                CMVR_LOG(INFO) << "Socket can receive can id is " << recv_frames_[i].ID;
-                cf.len = recv_frames_[i].LEN;
-                std::memcpy(cf.data, recv_frames_[i].DATA, recv_frames_[i].LEN);
-                frames->push_back(cf);
-            }
-            return ErrorCode::OK;
-        }
-
-        std::string PcanClient::getErrorString(const int32_t status) {
-            return "";
-        }
-    } // namespace device
-} // namespace cmvr

cmvr-es/devices/canbus/can_client/pcan/pcan_client.h

@@ -1,86 +0,0 @@
-//
-// Created by lgv on 2025/8/7.
-//
-
-/**
- * @file
- * @brief Defines the SocketCanClientRaw class which inherits AbstractCanbus.
- */
-#pragma once
-
-#include <unistd.h>
-
-#include <net/if.h>
-#include <sys/ioctl.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-
-#include <linux/can.h>
-#include <linux/can/raw.h>
-
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <string>
-#include <vector>
-
-#include "cmvr/msgs/error_code.pb.h"
-#include "cmvr/msgs/can_card_parameter.pb.h"
-#include "cmvr/config/motor_config/motor_config.pb.h"
-
-#include "gflags/gflags.h"
-#include "../../abstract_canbus.h"
-#include  "canbus/common/canbus_consts.h"
-
-#include <PCANBasic.h>
-
-namespace cmvr {
-    namespace device {
-
-        class PcanClient final : public AbstractCanbus {
-        public:
-            explicit PcanClient(const config::SocketCanConfig &cfg);
-            ~PcanClient();
-            std::string typeName() const override { return "PcanClient"; }
-            bool init() override;
-            bool start() override;
-            bool stop() override;
-
-            /**
-             * @brief Send messages
-             * @param frames The messages to send.
-             * @param frame_num The amount of messages to send.
-             * @return The status of the sending action
-             */
-            cmvr::msgs::ErrorCode send(const std::vector<CanFrame> &frames,
-                                           int32_t *const frame_num) override;
-
-            /**
-             * @brief Receive messages
-             * @param frames The messages to receive.
-             * @param frame_num The amount of messages to receive.
-             * @return The status of the receiving action
-             */
-            cmvr::msgs::ErrorCode receive(std::vector<CanFrame> *const frames,
-                                              int32_t *const frame_num) override;
-
-            /**
-             * @brief Get the error string.
-             * @param status The status to get the error string.
-             */
-            std::string getErrorString(const int32_t status) override;
-        private:
-            int dev_handler_ = 0;
-            cmvr::msgs::CANCardParameter::CANChannelId port_;
-            cmvr::msgs::CANCardParameter::CANInterface interface_;
-            TPCANMsg send_frames_[MAX_CAN_SEND_FRAME_LEN];
-            TPCANMsg recv_frames_[MAX_CAN_RECV_FRAME_LEN];
-
-
-            //
-            bool enable_can_err_check_{false};
-            const TPCANHandle PcanHandle = PCAN_USBBUS1;
-            const TPCANBaudrate Bitrate = PCAN_BAUD_1M;
-        };
-    }
-}

cmvr-es/devices/canbus/can_client/pcan/pcan_client_test.cpp

@@ -1,46 +0,0 @@
-#include "common/base/logging/logger.h"
-//
-// Created by lgv on 2025/8/7.
-//
-#include "cmvr/msgs/error_code.pb.h"
-#include "cmvr/msgs/can_card_parameter.pb.h"
-#include "canbus/can_client/pcan/pcan_client.h"
-#include "gtest/gtest.h"
-namespace cmvr {
-    namespace device {
-        using cmvr::msgs::ErrorCode;
-        using cmvr::msgs::CANCardParameter;
-
-        TEST(PcanClienTest, simple_test) {
-            CANCardParameter param;
-            param.set_brand(CANCardParameter::SOCKET_CAN_RAW);
-            param.set_channel_id(CANCardParameter::CHANNEL_ID_ZERO);
-
-            config::SocketCanConfig cfg;
-            cfg.set_channel_id(0);
-            PcanClient socket_can_client(cfg);
-
-            socket_can_client.init();
-
-            // EXPECT_EQ(socket_can_client.start(), ErrorCode::CAN_CLIENT_ERROR_BASE);
-            socket_can_client.start();
-            std::vector<CanFrame> frames;
-            // int32_t num = 0;
-            // EXPECT_EQ(socket_can_client.send(frames, &num),
-            //           ErrorCode::OK);
-            // ++num;
-            // EXPECT_EQ(socket_can_client.receive(&frames, &num),
-            //           ErrorCode::OK);
-            // CMVR_LOG(INFO) << frames.at(0).CanFrameString();
-            CanFrame can_frame;
-            can_frame.id = 0x123;
-            can_frame.len = 8;
-            memset(can_frame.data, 0xA3, sizeof(can_frame.data));
-            frames.clear();
-            frames.push_back(can_frame);
-            EXPECT_EQ(socket_can_client.sendSingleFrame(frames),
-                      ErrorCode::OK);
-            socket_can_client.stop();
-        }
-    }
-}

cmvr-es/devices/dexhand/abstract_dexhand.h

@@ -156,6 +156,17 @@ namespace cmvr::device {
                 lifecycle == Status::STREAMING;
         }
 
+        // Stops command-driven activity without changing the device lifecycle
+        // or closing its transport. Implementations must return true only after
+        // no pre-stop activity can continue. Motion-capable hands without a
+        // reliable hold/idle command deliberately fail closed.
+        virtual bool stopOperationalActivity() { return false; }
+
+        // Restores an activity paused by stopOperationalActivity(). This is
+        // called only after a new command has crossed the system admission
+        // boundary. Most motion-capable hands need no separate resume command.
+        virtual bool resumeOperationalActivity() { return true; }
+
         virtual void setAngles(const std::vector<int>& finger_joint_angles) = 0;
         virtual void setTactilePollingRegion(FingerType finger, TactileRegion region) {
             setTactilePollingRegions({TactileRegionKey{finger, region}});

cmvr-es/devices/gripper/abstract_gripper.h

@@ -23,6 +23,11 @@ namespace cmvr::device{
         virtual void setPosition(float position, float vel) {}
         virtual void setForce(float value) {}
 
+        // Stops command-driven gripper activity while preserving the device
+        // lifecycle. Backends must explicitly confirm this contract before
+        // SystemService::StopAll can report success.
+        virtual bool stopOperationalActivity() { return false; }
+
     protected:
         GripperState state_;
     };

cmvr-es/devices/motor/README.md

@@ -0,0 +1,36 @@
+# Motor 设备模块
+
+`devices/motor/` 提供电机管理、协议适配、总线 runtime 和厂商驱动。Service、
+RobotArm 和业务 Task 只依赖 `MotorManager`/`AbstractMotor` 的稳定接口，不应
+直接访问 CAN、EtherCAT、MuJoCo 或厂商 SDK。
+
+返回 [Devices 模块指南](../README.md) 或 [项目总览](../../../README.md)。
+
+## 目录职责
+
+| 目录 | 职责 |
+| --- | --- |
+| `manager/` | 创建 MotorGroup，按 `motor_id`/`joint_name` 暴露 `AbstractMotor` |
+| `bus_runtime/` | 连接、收发和总线生命周期 |
+| `drivers/` | CANopen、EtherCAT 和 MuJoCo 等具体后端 |
+
+## 当前后端
+
+- CAN + TI5 CANopen；
+- EtherCAT + EYOU CiA 402；
+- MuJoCo 仿真电机。
+
+配置示例：
+
+- [`ti5_motors.pb.txt`](../../config/devices/motor/ti5_motors.pb.txt)
+- [`ethercat_motors.pb.txt`](../../config/devices/motor/ethercat_motors.pb.txt)
+- [`mujoco_motors.pb.txt`](../../config/devices/motor/mujoco_motors.pb.txt)
+
+对外接口与控制权语义见 [MotorService 文档](../../service/README.md#motorservice)。
+
+## 安全边界
+
+- MotorService 是单轴 API，不提供多轴同扫描周期的原子 commit；
+- 软件 `emergencyStop` 和 Quick Stop 不具备功能安全等级；
+- 真实设备必须具有经风险评估确定的硬接线急停、安全继电器和驱动器安全链；
+- 新硬件配置保持 `enable: false`，完成方向、限位和故障注入验证后才能启用。

cmvr-es/devices/speaker/abstract_speaker.h

@@ -21,6 +21,11 @@ namespace cmvr::device{
         virtual int getVolume() const {return 0;}
         virtual void pause() {}
         virtual void resume() {}
+        // Stops the current file or streamed playback without changing the
+        // device lifecycle. SystemService StopAll and SpeakerService use this
+        // typed operation; implementations should return only after their
+        // playback workers can no longer emit audio.
+        virtual bool stopPlayback() { return false; }
         virtual bool pushAudioFrame(const AudioStreamFrameData& frame_data) { return false; }
         virtual void stopStreaming() {}
 

cmvr-es/manager/README.md

@@ -6,13 +6,20 @@
 
 ## 当前管理器
 
+管理模块目录统一使用 `*_manager` 后缀，主管理类使用 `*Manager` 后缀。工厂、适配器、
+账本、快照和结果结构体属于管理器内部的支撑类型，保留其职责名称，不强行改成
+`*Manager`。
+
 | 目录 | CMake target | 职责 |
 | --- | --- | --- |
+| [`control_authority_manager/`](control_authority_manager/) | `cmvr_es::control_authority_manager` | 控制权租约、代际、dispatch fence 和 quarantine |
 | [`device_manager/`](device_manager/) | `cmvr_es::device_manager` | 按配置创建、初始化、查询和批量启停设备 |
+| [`safety_manager/`](safety_manager/) | `cmvr_es::safety_manager` | Sensor/Control 安全准入、StopAll、恢复和命令账本 |
 | [`task_manager/`](task_manager/) | `cmvr_es::task_manager` | 创建任务、校验运行模式、统一启停和调度周期任务 |
-| [`media_source_hub/`](media_source_hub/) | `cmvr_es::media_source_hub`、`cmvr_es::device_media_source_adapter` | 实时媒体源注册、按需启停和多消费者分发 |
+| [`media_source_manager/`](media_source_manager/) | `cmvr_es::media_source_manager`、`cmvr_es::device_media_source_adapter` | 实时媒体源注册、按需启停和多消费者分发 |
 
-`manager/` 当前没有聚合 `CMakeLists.txt`，三个子目录由 [`../CMakeLists.txt`](../CMakeLists.txt) 分别加入。新增 manager 时必须显式更新该文件。
+`manager/` 当前没有聚合 `CMakeLists.txt`，所有模块由 [`../CMakeLists.txt`](../CMakeLists.txt)
+按依赖顺序加入。新增 manager 时必须同时更新目录、target、依赖顺序和本 README。
 
 ## 进程生命周期
 
@@ -30,7 +37,8 @@
 
 - DeviceManager 构造不会自动调用全部设备的 `start()`；
 - 当前主退出路径没有调用 `DeviceManager::stop()`；
-- `SystemService/StopAll` 会调用 DeviceManager stop；
+- `SystemService/StopAll` 只停止当前运动、控制和媒体活动，不调用
+  `DeviceManager::stop()`，成功返回后可继续接受新命令；
 - `DeviceManager::destroyInstance()` 不调用设备 stop，销毁前必须先显式停止；
 - `TaskManager::destroyInstance()` 会调用 `stopRunTask()`，但 manager 未处于 running 状态时该调用会直接返回；
 - DeviceManager 和 TaskManager 都是首次配置生效的单例，不支持热加载。
@@ -135,12 +143,12 @@
 - 有顺序依赖的工作应放入同一协调任务或显式建模；
 - task 返回后，其内部状态并发安全由具体实现负责。
 
-## MediaSourceHub
+## MediaSourceManager
 
 关键文件：
 
-- [`media_source_hub/include/media_source_hub.h`](media_source_hub/include/media_source_hub.h)
+- [`media_source_manager/include/media_source_manager.h`](media_source_manager/include/media_source_manager.h)
-- [`media_source_hub/src/device_media_source_adapter.cpp`](media_source_hub/src/device_media_source_adapter.cpp)
+- [`media_source_manager/src/device_media_source_adapter.cpp`](media_source_manager/src/device_media_source_adapter.cpp)
 - [`../common/media/media_frame.h`](../common/media/media_frame.h)
 - [`../common/base/ring_buffer.h`](../common/base/ring_buffer.h)
 
@@ -151,7 +159,8 @@
 | 摄像头彩色流 | `<device_id>/video/color` | 64 |
 | 麦克风主流 | `<device_id>/audio/main` | 256 |
 
-当前 gRPC RGB/麦克风流和 QUIC 彩色/麦克风轨道使用 Hub；gRPC Depth/RGBD 仍直接读取设备帧。
+当前 gRPC RGB/麦克风流和 QUIC 彩色/麦克风轨道使用 MediaSourceManager；gRPC Depth/RGBD
+仍直接读取设备帧。
 
 ### 注册新媒体源
 
@@ -210,7 +219,7 @@ ring generation 不等于 `TrackDescriptor::generation`，ring 的 `ReadResult.s
 
 ## 新增第四种 Manager
 
-1. 先确认能力不是 DeviceManager、TaskManager 或 MediaSourceHub 的子职责；
+1. 先确认能力不是 DeviceManager、TaskManager 或 MediaSourceManager 的子职责；
 2. 定义所有权、初始化、start/stop 和线程模型；
 3. 避免新增无必要的全局单例；
 4. 新建独立目录、头文件、实现和 CMake target；
@@ -220,16 +229,6 @@ ring generation 不等于 `TrackDescriptor::generation`，ring 的 `ReadResult.s
 
 ## 测试
 
-MediaSourceHub：
-
-```bash
-cmake --build build --target media_source_hub_test
-ctest \
-  --test-dir build \
-  -R '^media_source_hub_test$' \
-  --output-on-failure
-```
-
 DeviceManager 已有 `device_manager_snapshot_test`，覆盖全量状态表、生命周期失败、
 异常限长、排序和值快照并发读取。TaskManager 仍缺少独立 CTest。修改其行为时
 至少补充：

cmvr-es/manager/control_authority_manager/CMakeLists.txt

@@ -0,0 +1,14 @@
+add_library(control_authority_manager STATIC
+        src/control_authority_manager.cpp
+)
+target_compile_features(control_authority_manager PUBLIC cxx_std_17)
+target_include_directories(control_authority_manager
+        PUBLIC
+        ${PROJECT_SOURCE_DIR}/cmvr-es
+)
+
+add_library(
+        cmvr_es::control_authority_manager
+        ALIAS control_authority_manager
+)
+install(TARGETS control_authority_manager ARCHIVE DESTINATION lib)

cmvr-es/manager/control_authority_manager/include/control_authority_manager.h

@@ -0,0 +1,170 @@
+#ifndef CMVR_ES_CONTROL_AUTHORITY_MANAGER_H
+#define CMVR_ES_CONTROL_AUTHORITY_MANAGER_H
+
+#include <chrono>
+#include <condition_variable>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <unordered_map>
+
+namespace cmvr::control {
+
+struct ControlLeaseToken {
+    std::string resource_id;
+    std::string owner_id;
+    std::uint64_t generation{0};
+
+    bool valid() const noexcept
+    {
+        return !resource_id.empty() &&
+               !owner_id.empty() &&
+               generation != 0U;
+    }
+};
+
+struct ControlAcquireResult {
+    bool acquired{false};
+    ControlLeaseToken token;
+    std::string detail;
+};
+
+class ControlDispatchGuard;
+
+// Process-wide, transport-independent control ownership. The generation in a
+// token prevents a delayed release from an old network session from releasing
+// a newer lease on the same arm.
+class ControlAuthorityManager {
+public:
+    using Duration = std::chrono::milliseconds;
+
+    static ControlAuthorityManager& instance();
+
+    ControlAcquireResult tryAcquire(
+        const std::string& resource_id,
+        const std::string& owner_id,
+        Duration ttl);
+
+    // Atomically invalidates a normal control lease and joins a safety
+    // barrier. Each safety caller receives an independent token; normal
+    // control remains blocked until the last safety token is released.
+    ControlAcquireResult preemptAcquire(
+        const std::string& resource_id,
+        const std::string& owner_id,
+        Duration ttl);
+
+    // Converts the expected normal lease into a safety barrier only while it
+    // is still the current lease. A stale token never preempts a successor or
+    // joins an existing safety barrier.
+    ControlAcquireResult preemptAcquireIfCurrent(
+        const ControlLeaseToken& expected_token,
+        const std::string& owner_id,
+        Duration ttl);
+
+    // Waits for normal lease handlers displaced by the current safety barrier
+    // to release their tokens and for their in-flight dispatches to finish.
+    // Returns false on timeout or when safety_token is no longer a holder of
+    // the current entry.
+    bool waitForPreemptedRelease(
+        const ControlLeaseToken& safety_token,
+        Duration timeout);
+
+    // Permanently blocks the resource only if the expected normal lease is
+    // still current. A later safety holder may clear this fail-closed state
+    // only after it has independently confirmed the preempted handler exited.
+    bool quarantineIfCurrent(
+        const ControlLeaseToken& expected_token) noexcept;
+
+    // Abandons a safety token while retaining its barrier. A retired token can
+    // no longer be validated, released, or used as a recovery authority. This
+    // lets a failed stop path discard local token ownership without silently
+    // reopening the resource.
+    bool retireSafetyHolder(
+        const ControlLeaseToken& safety_token) noexcept;
+
+    // Clears retired safety holders and a tokenless quarantine after a newer,
+    // active safety holder has confirmed every preempted normal handler has
+    // exited. Other active safety holders are deliberately preserved.
+    bool recoverRetiredSafetyHolders(
+        const ControlLeaseToken& recovery_token) noexcept;
+
+    bool renew(const ControlLeaseToken& token, Duration ttl);
+    bool validate(const ControlLeaseToken& token);
+
+    // Use only around a bounded device-command submission. Never retain this
+    // guard while waiting for physical motion or another long-running task.
+    ControlDispatchGuard tryBeginDispatch(
+        const ControlLeaseToken& token);
+    void release(const ControlLeaseToken& token) noexcept;
+
+    // Safety/control paths which do not possess a lease use this query to
+    // reject mutating commands. Read-only state and stop/torque-off commands
+    // are intentionally allowed by their callers.
+    bool isLeased(const std::string& resource_id);
+    void revoke(const std::string& resource_id) noexcept;
+
+    // Test/process teardown hook. Runtime code should release/revoke exact
+    // resources instead of clearing unrelated ownership.
+    void clear() noexcept;
+
+private:
+    friend class ControlDispatchGuard;
+
+    struct SafetyHolder {
+        std::string owner_id;
+        bool retired{false};
+    };
+
+    struct Entry;
+
+    static void quarantine_(Entry& entry) noexcept;
+    bool expired_(const Entry& entry) const noexcept;
+    static bool isSafetyHolder_(
+        const Entry& entry,
+        const ControlLeaseToken& token) noexcept;
+    static bool isActiveSafetyHolder_(
+        const Entry& entry,
+        const ControlLeaseToken& token) noexcept;
+    static bool canErase_(const Entry& entry) noexcept;
+    static void invalidateToDispatchFence_(Entry& entry) noexcept;
+    void endDispatch_(const std::shared_ptr<Entry>& entry) noexcept;
+
+    std::mutex mutex_;
+    std::condition_variable release_cv_;
+    std::unordered_map<std::string, std::shared_ptr<Entry>> entries_;
+    std::uint64_t next_generation_{0};
+};
+
+// Tracks one bounded backend dispatch without retaining the process-wide
+// authority lock. Safety preemption invalidates the lease immediately, while
+// waitForPreemptedRelease() joins both the displaced handler and its in-flight
+// dispatches before the safety operation reaches the device.
+class ControlDispatchGuard final {
+public:
+    ControlDispatchGuard() noexcept = default;
+    ~ControlDispatchGuard() noexcept;
+
+    ControlDispatchGuard(ControlDispatchGuard&& other) noexcept;
+    ControlDispatchGuard& operator=(ControlDispatchGuard&& other) noexcept;
+
+    ControlDispatchGuard(const ControlDispatchGuard&) = delete;
+    ControlDispatchGuard& operator=(const ControlDispatchGuard&) = delete;
+
+    bool acquired() const noexcept { return entry_ != nullptr; }
+
+private:
+    friend class ControlAuthorityManager;
+
+    ControlDispatchGuard(
+        ControlAuthorityManager* manager,
+        std::shared_ptr<ControlAuthorityManager::Entry> entry) noexcept;
+    void reset_() noexcept;
+
+    ControlAuthorityManager* manager_{nullptr};
+    std::shared_ptr<ControlAuthorityManager::Entry> entry_;
+};
+
+} // namespace cmvr::control
+
+#endif // CMVR_ES_CONTROL_AUTHORITY_MANAGER_H

cmvr-es/manager/control_authority_manager/src/control_authority_manager.cpp

@@ -0,0 +1,682 @@
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+
+#include <utility>
+
+namespace cmvr::control {
+
+struct ControlAuthorityManager::Entry {
+    std::string resource_id;
+    std::string owner_id;
+    std::uint64_t generation{0};
+    std::chrono::steady_clock::time_point deadline;
+    bool preemptible{true};
+    bool quarantined{false};
+    bool quarantined_normal_pending{false};
+    bool dispatch_fence_only{false};
+    std::uint64_t in_flight_dispatches{0};
+    std::unordered_map<std::uint64_t, SafetyHolder> safety_holders;
+    std::unordered_map<std::uint64_t, std::string>
+        preempted_normal_holders;
+};
+
+ControlDispatchGuard::ControlDispatchGuard(
+    ControlAuthorityManager* const manager,
+    std::shared_ptr<ControlAuthorityManager::Entry> entry) noexcept
+    : manager_(manager),
+      entry_(std::move(entry))
+{
+}
+
+ControlDispatchGuard::~ControlDispatchGuard() noexcept
+{
+    reset_();
+}
+
+ControlDispatchGuard::ControlDispatchGuard(
+    ControlDispatchGuard&& other) noexcept
+    : manager_(std::exchange(other.manager_, nullptr)),
+      entry_(std::move(other.entry_))
+{
+}
+
+ControlDispatchGuard& ControlDispatchGuard::operator=(
+    ControlDispatchGuard&& other) noexcept
+{
+    if (this != &other) {
+        reset_();
+        manager_ = std::exchange(other.manager_, nullptr);
+        entry_ = std::move(other.entry_);
+    }
+    return *this;
+}
+
+void ControlDispatchGuard::reset_() noexcept
+{
+    if (entry_ == nullptr) {
+        return;
+    }
+    auto entry = std::move(entry_);
+    auto* const manager = std::exchange(manager_, nullptr);
+    manager->endDispatch_(entry);
+}
+
+ControlAuthorityManager& ControlAuthorityManager::instance()
+{
+    static ControlAuthorityManager manager;
+    return manager;
+}
+
+ControlAcquireResult ControlAuthorityManager::tryAcquire(
+    const std::string& resource_id,
+    const std::string& owner_id,
+    const Duration ttl)
+{
+    if (resource_id.empty() || owner_id.empty() ||
+        ttl <= Duration::zero()) {
+        return {false, {}, "invalid control lease request"};
+    }
+
+    std::lock_guard lock(mutex_);
+    const auto existing = entries_.find(resource_id);
+    if (existing != entries_.end()) {
+        auto& entry = *existing->second;
+        if (!expired_(entry)) {
+            if (entry.dispatch_fence_only) {
+                return {
+                    false,
+                    {},
+                    "control resource still has an in-flight dispatch"};
+            }
+            return {
+                false,
+                {},
+                "control resource is already leased by " +
+                    entry.owner_id};
+        }
+        if (entry.in_flight_dispatches != 0U) {
+            invalidateToDispatchFence_(entry);
+            return {
+                false,
+                {},
+                "control resource still has an in-flight dispatch"};
+        }
+        entries_.erase(existing);
+    }
+
+    ControlLeaseToken token;
+    token.resource_id = resource_id;
+    token.owner_id = owner_id;
+    token.generation = ++next_generation_;
+
+    auto entry = std::make_shared<Entry>();
+    entry->resource_id = resource_id;
+    entry->owner_id = owner_id;
+    entry->generation = token.generation;
+    entry->deadline = std::chrono::steady_clock::now() + ttl;
+    entries_.emplace(resource_id, std::move(entry));
+    return {true, std::move(token), {}};
+}
+
+ControlAcquireResult ControlAuthorityManager::preemptAcquire(
+    const std::string& resource_id,
+    const std::string& owner_id,
+    const Duration ttl)
+{
+    if (resource_id.empty() || owner_id.empty() ||
+        ttl <= Duration::zero()) {
+        return {false, {}, "invalid control barrier request"};
+    }
+
+    std::lock_guard lock(mutex_);
+    const auto existing = entries_.find(resource_id);
+    if (existing != entries_.end() &&
+        !existing->second->preemptible &&
+        !existing->second->dispatch_fence_only) {
+        ControlLeaseToken token;
+        token.resource_id = resource_id;
+        token.owner_id = owner_id;
+        token.generation = ++next_generation_;
+        existing->second->safety_holders.emplace(
+            token.generation,
+            SafetyHolder{token.owner_id, false});
+        return {true, std::move(token), {}};
+    }
+
+    const bool replacing_normal =
+        existing != entries_.end() && existing->second->preemptible;
+    try {
+        ControlLeaseToken token;
+        token.resource_id = resource_id;
+        token.owner_id = owner_id;
+        token.generation = ++next_generation_;
+
+        std::unordered_map<std::uint64_t, SafetyHolder> safety_holders;
+        safety_holders.emplace(
+            token.generation,
+            SafetyHolder{owner_id, false});
+        std::string safety_owner = owner_id;
+        std::unordered_map<std::uint64_t, std::string>
+            preempted_normal_holders;
+        if (replacing_normal) {
+            preempted_normal_holders.emplace(
+                existing->second->generation,
+                existing->second->owner_id);
+        }
+
+        std::shared_ptr<Entry> entry;
+        if (existing == entries_.end()) {
+            entry = std::make_shared<Entry>();
+            entry->resource_id = resource_id;
+            entry->owner_id.swap(safety_owner);
+            entry->generation = token.generation;
+            entry->deadline =
+                std::chrono::steady_clock::time_point::max();
+            entry->preemptible = false;
+            entry->safety_holders.swap(safety_holders);
+            entry->preempted_normal_holders.swap(
+                preempted_normal_holders);
+            entries_.emplace(resource_id, entry);
+        } else {
+            entry = existing->second;
+            entry->owner_id.swap(safety_owner);
+            entry->generation = token.generation;
+            entry->deadline =
+                std::chrono::steady_clock::time_point::max();
+            entry->preemptible = false;
+            entry->quarantined = false;
+            entry->quarantined_normal_pending = false;
+            entry->dispatch_fence_only = false;
+            entry->safety_holders.swap(safety_holders);
+            entry->preempted_normal_holders.swap(
+                preempted_normal_holders);
+        }
+        return {true, std::move(token), {}};
+    } catch (...) {
+        if (replacing_normal && existing->second->preemptible) {
+            quarantine_(*existing->second);
+        }
+        throw;
+    }
+}
+
+ControlAcquireResult ControlAuthorityManager::preemptAcquireIfCurrent(
+    const ControlLeaseToken& expected_token,
+    const std::string& owner_id,
+    const Duration ttl)
+{
+    if (!expected_token.valid() || owner_id.empty() ||
+        ttl <= Duration::zero()) {
+        return {false, {}, "invalid conditional control barrier request"};
+    }
+
+    std::lock_guard lock(mutex_);
+    const auto existing = entries_.find(expected_token.resource_id);
+    if (existing == entries_.end() ||
+        expired_(*existing->second) ||
+        !existing->second->preemptible ||
+        existing->second->owner_id != expected_token.owner_id ||
+        existing->second->generation != expected_token.generation) {
+        return {
+            false,
+            {},
+            "expected control lease is no longer current"};
+    }
+
+    try {
+        ControlLeaseToken token;
+        token.resource_id = expected_token.resource_id;
+        token.owner_id = owner_id;
+        token.generation = ++next_generation_;
+
+        std::unordered_map<std::uint64_t, SafetyHolder> safety_holders;
+        safety_holders.emplace(
+            token.generation,
+            SafetyHolder{owner_id, false});
+        std::string safety_owner = owner_id;
+        std::unordered_map<std::uint64_t, std::string>
+            preempted_normal_holders;
+        preempted_normal_holders.emplace(
+            existing->second->generation,
+            existing->second->owner_id);
+
+        auto& entry = *existing->second;
+        entry.owner_id.swap(safety_owner);
+        entry.generation = token.generation;
+        entry.deadline = std::chrono::steady_clock::time_point::max();
+        entry.preemptible = false;
+        entry.quarantined = false;
+        entry.quarantined_normal_pending = false;
+        entry.dispatch_fence_only = false;
+        entry.safety_holders.swap(safety_holders);
+        entry.preempted_normal_holders.swap(
+            preempted_normal_holders);
+        return {true, std::move(token), {}};
+    } catch (...) {
+        if (existing->second->preemptible) {
+            quarantine_(*existing->second);
+        }
+        throw;
+    }
+}
+
+bool ControlAuthorityManager::waitForPreemptedRelease(
+    const ControlLeaseToken& safety_token,
+    const Duration timeout)
+{
+    if (!safety_token.valid() || timeout < Duration::zero()) {
+        return false;
+    }
+
+    std::unique_lock lock(mutex_);
+    const auto currentState = [this, &safety_token]() {
+        const auto found = entries_.find(safety_token.resource_id);
+        if (found == entries_.end() ||
+            !isActiveSafetyHolder_(*found->second, safety_token)) {
+            return -1;
+        }
+        return !found->second->quarantined_normal_pending &&
+                       found->second->preempted_normal_holders.empty() &&
+                       found->second->in_flight_dispatches == 0U
+                   ? 1
+                   : 0;
+    };
+
+    if (currentState() < 0) {
+        return false;
+    }
+    release_cv_.wait_for(
+        lock,
+        timeout,
+        [&currentState]() { return currentState() != 0; });
+    return currentState() == 1;
+}
+
+bool ControlAuthorityManager::quarantineIfCurrent(
+    const ControlLeaseToken& expected_token) noexcept
+{
+    if (!expected_token.valid()) {
+        return false;
+    }
+    try {
+        std::lock_guard lock(mutex_);
+        const auto existing = entries_.find(expected_token.resource_id);
+        if (existing == entries_.end() ||
+            expired_(*existing->second) ||
+            !existing->second->preemptible ||
+            existing->second->owner_id != expected_token.owner_id ||
+            existing->second->generation != expected_token.generation) {
+            return false;
+        }
+        quarantine_(*existing->second);
+        return true;
+    } catch (...) {
+        return false;
+    }
+}
+
+bool ControlAuthorityManager::retireSafetyHolder(
+    const ControlLeaseToken& safety_token) noexcept
+{
+    if (!safety_token.valid()) {
+        return false;
+    }
+    try {
+        std::lock_guard lock(mutex_);
+        const auto existing = entries_.find(safety_token.resource_id);
+        if (existing == entries_.end() ||
+            existing->second->preemptible ||
+            existing->second->dispatch_fence_only) {
+            return false;
+        }
+        const auto holder = existing->second->safety_holders.find(
+            safety_token.generation);
+        if (holder == existing->second->safety_holders.end() ||
+            holder->second.owner_id != safety_token.owner_id) {
+            return false;
+        }
+        holder->second.retired = true;
+        release_cv_.notify_all();
+        return true;
+    } catch (...) {
+        return false;
+    }
+}
+
+bool ControlAuthorityManager::recoverRetiredSafetyHolders(
+    const ControlLeaseToken& recovery_token) noexcept
+{
+    if (!recovery_token.valid()) {
+        return false;
+    }
+    try {
+        std::lock_guard lock(mutex_);
+        const auto existing = entries_.find(recovery_token.resource_id);
+        if (existing == entries_.end() ||
+            !isActiveSafetyHolder_(*existing->second, recovery_token) ||
+            existing->second->quarantined_normal_pending ||
+            !existing->second->preempted_normal_holders.empty() ||
+            existing->second->in_flight_dispatches != 0U) {
+            return false;
+        }
+
+        for (auto holder = existing->second->safety_holders.begin();
+             holder != existing->second->safety_holders.end();) {
+            if (holder->second.retired) {
+                holder = existing->second->safety_holders.erase(holder);
+            } else {
+                ++holder;
+            }
+        }
+        existing->second->quarantined = false;
+        release_cv_.notify_all();
+        return true;
+    } catch (...) {
+        return false;
+    }
+}
+
+bool ControlAuthorityManager::renew(
+    const ControlLeaseToken& token,
+    const Duration ttl)
+{
+    if (!token.valid() || ttl <= Duration::zero()) {
+        return false;
+    }
+    std::lock_guard lock(mutex_);
+    const auto found = entries_.find(token.resource_id);
+    if (found == entries_.end()) {
+        return false;
+    }
+    if (expired_(*found->second)) {
+        if (found->second->in_flight_dispatches != 0U) {
+            invalidateToDispatchFence_(*found->second);
+        } else {
+            entries_.erase(found);
+        }
+        return false;
+    }
+    if (!found->second->preemptible) {
+        const auto holder = found->second->safety_holders.find(
+            token.generation);
+        return holder != found->second->safety_holders.end() &&
+               holder->second.owner_id == token.owner_id &&
+               !holder->second.retired;
+    }
+    if (found->second->owner_id != token.owner_id ||
+        found->second->generation != token.generation) {
+        return false;
+    }
+    found->second->deadline = std::chrono::steady_clock::now() + ttl;
+    return true;
+}
+
+bool ControlAuthorityManager::validate(
+    const ControlLeaseToken& token)
+{
+    if (!token.valid()) {
+        return false;
+    }
+    std::lock_guard lock(mutex_);
+    const auto found = entries_.find(token.resource_id);
+    if (found == entries_.end()) {
+        return false;
+    }
+    if (expired_(*found->second)) {
+        if (found->second->in_flight_dispatches != 0U) {
+            invalidateToDispatchFence_(*found->second);
+        } else {
+            entries_.erase(found);
+        }
+        return false;
+    }
+    if (!found->second->preemptible) {
+        const auto holder = found->second->safety_holders.find(
+            token.generation);
+        return holder != found->second->safety_holders.end() &&
+               holder->second.owner_id == token.owner_id &&
+               !holder->second.retired;
+    }
+    return found->second->owner_id == token.owner_id &&
+           found->second->generation == token.generation;
+}
+
+ControlDispatchGuard ControlAuthorityManager::tryBeginDispatch(
+    const ControlLeaseToken& token)
+{
+    if (!token.valid()) {
+        return {};
+    }
+    std::lock_guard lock(mutex_);
+    const auto found = entries_.find(token.resource_id);
+    if (found == entries_.end()) {
+        return {};
+    }
+    if (expired_(*found->second)) {
+        if (found->second->in_flight_dispatches != 0U) {
+            invalidateToDispatchFence_(*found->second);
+        } else {
+            entries_.erase(found);
+        }
+        return {};
+    }
+    if (!found->second->preemptible ||
+        found->second->owner_id != token.owner_id ||
+        found->second->generation != token.generation) {
+        return {};
+    }
+    ++found->second->in_flight_dispatches;
+    return ControlDispatchGuard(this, found->second);
+}
+
+void ControlAuthorityManager::release(
+    const ControlLeaseToken& token) noexcept
+{
+    if (!token.valid()) {
+        return;
+    }
+    try {
+        std::lock_guard lock(mutex_);
+        const auto found = entries_.find(token.resource_id);
+        if (found == entries_.end()) {
+            return;
+        }
+        auto& entry = *found->second;
+        if (!entry.preemptible) {
+            if (entry.dispatch_fence_only) {
+                return;
+            }
+            const auto holder = entry.safety_holders.find(token.generation);
+            if (holder != entry.safety_holders.end() &&
+                holder->second.owner_id == token.owner_id) {
+                if (holder->second.retired) {
+                    return;
+                }
+                entry.safety_holders.erase(holder);
+                if (canErase_(entry)) {
+                    entries_.erase(found);
+                }
+                release_cv_.notify_all();
+                return;
+            }
+
+            const auto preempted = entry.preempted_normal_holders.find(
+                token.generation);
+            if (preempted != entry.preempted_normal_holders.end() &&
+                preempted->second == token.owner_id) {
+                entry.preempted_normal_holders.erase(preempted);
+                if (canErase_(entry)) {
+                    entries_.erase(found);
+                }
+                release_cv_.notify_all();
+                return;
+            }
+
+            if (entry.quarantined_normal_pending &&
+                entry.owner_id == token.owner_id &&
+                entry.generation == token.generation) {
+                entry.quarantined_normal_pending = false;
+                if (canErase_(entry)) {
+                    entries_.erase(found);
+                }
+                release_cv_.notify_all();
+            }
+        } else if (entry.owner_id == token.owner_id &&
+                   entry.generation == token.generation) {
+            if (entry.in_flight_dispatches != 0U) {
+                invalidateToDispatchFence_(entry);
+            } else {
+                entries_.erase(found);
+            }
+            release_cv_.notify_all();
+        }
+    } catch (...) {
+    }
+}
+
+bool ControlAuthorityManager::isLeased(
+    const std::string& resource_id)
+{
+    if (resource_id.empty()) {
+        return false;
+    }
+    std::lock_guard lock(mutex_);
+    const auto found = entries_.find(resource_id);
+    if (found == entries_.end()) {
+        return false;
+    }
+    if (expired_(*found->second)) {
+        if (found->second->in_flight_dispatches != 0U) {
+            invalidateToDispatchFence_(*found->second);
+            return true;
+        }
+        entries_.erase(found);
+        return false;
+    }
+    return true;
+}
+
+void ControlAuthorityManager::revoke(
+    const std::string& resource_id) noexcept
+{
+    try {
+        std::lock_guard lock(mutex_);
+        const auto found = entries_.find(resource_id);
+        if (found == entries_.end()) {
+            return;
+        }
+        if (found->second->in_flight_dispatches != 0U) {
+            invalidateToDispatchFence_(*found->second);
+        } else {
+            entries_.erase(found);
+        }
+        release_cv_.notify_all();
+    } catch (...) {
+    }
+}
+
+void ControlAuthorityManager::clear() noexcept
+{
+    try {
+        std::lock_guard lock(mutex_);
+        for (auto entry = entries_.begin(); entry != entries_.end();) {
+            if (entry->second->in_flight_dispatches != 0U) {
+                invalidateToDispatchFence_(*entry->second);
+                ++entry;
+            } else {
+                entry = entries_.erase(entry);
+            }
+        }
+        release_cv_.notify_all();
+    } catch (...) {
+    }
+}
+
+bool ControlAuthorityManager::expired_(const Entry& entry) const noexcept
+{
+    return !entry.quarantined &&
+           std::chrono::steady_clock::now() >= entry.deadline;
+}
+
+bool ControlAuthorityManager::isSafetyHolder_(
+    const Entry& entry,
+    const ControlLeaseToken& token) noexcept
+{
+    if (entry.preemptible || entry.dispatch_fence_only) {
+        return false;
+    }
+    const auto holder = entry.safety_holders.find(token.generation);
+    return holder != entry.safety_holders.end() &&
+           holder->second.owner_id == token.owner_id;
+}
+
+bool ControlAuthorityManager::isActiveSafetyHolder_(
+    const Entry& entry,
+    const ControlLeaseToken& token) noexcept
+{
+    if (entry.preemptible || entry.dispatch_fence_only) {
+        return false;
+    }
+    const auto holder = entry.safety_holders.find(token.generation);
+    return holder != entry.safety_holders.end() &&
+           holder->second.owner_id == token.owner_id &&
+           !holder->second.retired;
+}
+
+bool ControlAuthorityManager::canErase_(const Entry& entry) noexcept
+{
+    if (entry.in_flight_dispatches != 0U) {
+        return false;
+    }
+    if (entry.dispatch_fence_only) {
+        return true;
+    }
+    return !entry.preemptible &&
+           entry.safety_holders.empty() &&
+           entry.preempted_normal_holders.empty() &&
+           !entry.quarantined_normal_pending &&
+           !entry.quarantined;
+}
+
+void ControlAuthorityManager::invalidateToDispatchFence_(
+    Entry& entry) noexcept
+{
+    entry.owner_id.clear();
+    entry.generation = 0U;
+    entry.deadline = std::chrono::steady_clock::time_point::max();
+    entry.preemptible = false;
+    entry.quarantined = false;
+    entry.quarantined_normal_pending = false;
+    entry.dispatch_fence_only = true;
+    entry.safety_holders.clear();
+    entry.preempted_normal_holders.clear();
+}
+
+void ControlAuthorityManager::endDispatch_(
+    const std::shared_ptr<Entry>& entry) noexcept
+{
+    try {
+        std::lock_guard lock(mutex_);
+        if (entry->in_flight_dispatches == 0U) {
+            return;
+        }
+        --entry->in_flight_dispatches;
+        const auto found = entries_.find(entry->resource_id);
+        if (found != entries_.end() && found->second == entry &&
+            canErase_(*entry)) {
+            entries_.erase(found);
+        }
+        release_cv_.notify_all();
+    } catch (...) {
+    }
+}
+
+void ControlAuthorityManager::quarantine_(Entry& entry) noexcept
+{
+    entry.quarantined_normal_pending = entry.preemptible;
+    entry.deadline = std::chrono::steady_clock::time_point::max();
+    entry.preemptible = false;
+    entry.quarantined = true;
+    entry.dispatch_fence_only = false;
+}
+
+} // namespace cmvr::control

cmvr-es/manager/device_manager/CMakeLists.txt

@@ -1,5 +1,6 @@
 add_library(device_manager STATIC
         src/device_factory.cpp
+        src/device_safety_adapters.cpp
         src/device_manager.cpp
 )
 
@@ -7,6 +8,7 @@ target_include_directories(device_manager PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(device_manager PRIVATE
         cmvr_es::proto
+        cmvr_es::safety_manager
         cmvr_es::device::camera
         cmvr_es::device::agv
         cmvr_es::device::speaker
@@ -42,9 +44,16 @@ if(BUILD_TESTING)
                 "${CMAKE_BINARY_DIR}/cmvr_compiler_runtime")
         list(JOIN _device_manager_test_library_dirs ":"
                 _device_manager_test_library_path)
+        set(_device_manager_snapshot_test_environment
+                "LD_LIBRARY_PATH=${_device_manager_test_library_path}")
+        if(CMVR_TEST_SYSTEM_LIBSTDCXX)
+            list(APPEND _device_manager_snapshot_test_environment
+                    "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
+        endif()
         set_tests_properties(device_manager_snapshot_test PROPERTIES
                 ENVIRONMENT
-                "LD_LIBRARY_PATH=${_device_manager_test_library_path}"
+                "${_device_manager_snapshot_test_environment}"
         )
     endif()
+
 endif()

cmvr-es/manager/device_manager/include/device_safety_adapters.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <chrono>
+#include <memory>
+
+#include "devices/abstract_device.h"
+#include "manager/safety_manager/include/safety_participant.h"
+
+namespace cmvr::device {
+
+safety::DeviceSafetyRegistration makeDeviceSafetyRegistration(
+    const std::shared_ptr<AbstractDevice>& device,
+    std::chrono::milliseconds configured_maximum_age =
+        std::chrono::milliseconds::zero(),
+    std::chrono::milliseconds configured_stop_timeout =
+        std::chrono::milliseconds::zero());
+
+} // namespace cmvr::device

cmvr-es/manager/media_source_manager/CMakeLists.txt

@@ -0,0 +1,45 @@
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+    cmake_minimum_required(VERSION 3.22)
+    project(cmvr_media_source_manager LANGUAGES CXX)
+    add_subdirectory(
+            ${CMAKE_CURRENT_SOURCE_DIR}/../../service/grpc/stop_all
+            ${CMAKE_CURRENT_BINARY_DIR}/stop_all
+    )
+endif()
+
+add_library(media_source_manager STATIC
+        src/media_source_manager.cpp
+)
+
+target_compile_features(media_source_manager PUBLIC cxx_std_17)
+target_include_directories(media_source_manager
+        PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/../..
+)
+target_link_libraries(media_source_manager
+        PUBLIC
+        cmvr_es::stop_all_admission_gate
+)
+
+add_library(cmvr_es::media_source_manager ALIAS media_source_manager)
+
+if(NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+    add_library(device_media_source_adapter STATIC
+            src/device_media_source_adapter.cpp
+    )
+    target_compile_features(device_media_source_adapter PUBLIC cxx_std_17)
+    target_include_directories(device_media_source_adapter
+            PUBLIC
+            ${CMAKE_CURRENT_SOURCE_DIR}/../..
+    )
+    target_link_libraries(device_media_source_adapter
+            PUBLIC
+            cmvr_es::media_source_manager
+            cmvr_es::common
+            cmvr_es::proto
+            cmvr_es::logging
+            cmvr_es::safety_manager
+    )
+    add_library(cmvr_es::device_media_source_adapter ALIAS device_media_source_adapter)
+
+endif()

cmvr-es/manager/safety_manager/CMakeLists.txt

@@ -0,0 +1,18 @@
+add_library(safety_manager STATIC
+        src/command_ledger.cpp
+        src/safety_manager.cpp
+        src/safety_reason.cpp
+        src/safety_snapshot_store.cpp
+)
+
+target_include_directories(safety_manager PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}
+        ${CMAKE_SOURCE_DIR}/cmvr-es
+)
+
+target_link_libraries(safety_manager PUBLIC
+        cmvr_es::control_authority_manager
+)
+
+add_library(cmvr_es::safety_manager ALIAS safety_manager)
+install(TARGETS safety_manager LIBRARY DESTINATION lib)

cmvr-es/manager/safety_manager/include/command_ledger.h

@@ -0,0 +1,130 @@
+#pragma once
+
+#include <chrono>
+#include <condition_variable>
+#include <cstddef>
+#include <memory>
+#include <mutex>
+#include <optional>
+#include <string>
+#include <unordered_map>
+
+#include "manager/safety_manager/include/safety_types.h"
+
+namespace cmvr::safety {
+
+struct CommandKey {
+    std::string effective_principal_id;
+    std::string command_id;
+
+    bool operator==(const CommandKey& other) const noexcept
+    {
+        return effective_principal_id == other.effective_principal_id &&
+               command_id == other.command_id;
+    }
+};
+
+struct CommandOutcome {
+    CommandLifecycle lifecycle{CommandLifecycle::Failed};
+    SafetyReason reason{SafetyReason::InternalError};
+    std::string detail;
+    std::string serialized_response;
+    std::uint64_t safety_epoch{0};
+    std::uint64_t device_generation{0};
+    bool hardware_submission_possible{false};
+};
+
+enum class CommandReservationStatus {
+    AcceptedNew,
+    JoinedInFlight,
+    CachedResult,
+    CommandIdConflict,
+    ResultEvicted,
+    LedgerExhausted,
+    Invalid,
+};
+
+class CommandLedger final {
+private:
+    struct State;
+
+public:
+    struct Config {
+        std::size_t result_capacity{4096};
+        std::size_t total_id_capacity{256U * 1024U};
+    };
+
+    class Ticket final {
+    public:
+        Ticket() = default;
+        bool valid() const noexcept { return state_ != nullptr; }
+
+    private:
+        friend class CommandLedger;
+        explicit Ticket(std::shared_ptr<State> state)
+            : state_(std::move(state))
+        {
+        }
+
+        std::shared_ptr<State> state_;
+    };
+
+    struct Reservation {
+        CommandReservationStatus status{CommandReservationStatus::Invalid};
+        Ticket ticket;
+        std::optional<CommandOutcome> cached_outcome;
+    };
+
+    CommandLedger();
+    explicit CommandLedger(Config config);
+
+    Reservation reserve(CommandKey key, std::string payload_hash);
+    bool setLifecycle(const Ticket& ticket,
+                      CommandLifecycle lifecycle,
+                      std::uint64_t safety_epoch = 0,
+                      std::uint64_t device_generation = 0,
+                      bool hardware_submission_possible = false);
+    bool complete(const Ticket& ticket, CommandOutcome outcome);
+    std::optional<CommandOutcome> wait(
+        const Ticket& ticket,
+        SafetyClock::time_point deadline = SafetyClock::time_point::max()) const;
+    std::optional<CommandOutcome> lookup(
+        const CommandKey& key,
+        const std::string& payload_hash) const;
+
+    std::size_t acceptedIdCount() const;
+    std::size_t liveRecordCount() const;
+    std::size_t retiredIdCount() const;
+
+private:
+    struct KeyHash {
+        std::size_t operator()(const CommandKey& key) const noexcept;
+    };
+
+    struct State {
+        CommandKey key;
+        std::string payload_hash;
+        mutable std::mutex mutex;
+        mutable std::condition_variable condition;
+        CommandLifecycle lifecycle{CommandLifecycle::Reserved};
+        std::optional<CommandOutcome> outcome;
+        std::uint64_t safety_epoch{0};
+        std::uint64_t device_generation{0};
+        bool hardware_submission_possible{false};
+        bool terminal{false};
+    };
+
+    static bool validKey_(const CommandKey& key) noexcept;
+    void trimTerminalResultsLocked_();
+
+    const Config config_;
+    mutable std::mutex mutex_;
+    std::unordered_map<CommandKey, std::shared_ptr<State>, KeyHash> records_;
+    std::unordered_map<CommandKey, std::string, KeyHash> retired_ids_;
+    std::vector<CommandKey> terminal_order_;
+    std::size_t terminal_result_count_{0};
+};
+
+const char* toString(CommandReservationStatus status) noexcept;
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/include/device_safety_endpoint.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <functional>
+#include <memory>
+
+#include "manager/safety_manager/include/safety_types.h"
+
+namespace cmvr::safety {
+
+using SafetySnapshotPublisher =
+    std::function<bool(DeviceSafetySnapshot)>;
+
+class DeviceSafetyEndpoint {
+public:
+    virtual ~DeviceSafetyEndpoint() = default;
+
+    virtual DeviceSafetyDescriptor descriptor() const = 0;
+    virtual void bindPublisher(SafetySnapshotPublisher publisher) = 0;
+    virtual void requestSafetyRefresh() noexcept = 0;
+    // Called after a backend/session restart. Implementations must publish
+    // subsequent samples with this generation or remain fail-closed.
+    virtual void onDeviceGenerationChanged(
+        std::uint64_t generation) noexcept
+    {
+        (void)generation;
+    }
+    virtual HardwareCheckResult validateBeforeDispatch(
+        const AdmissionPermit& permit) = 0;
+    // Explicit operator-authorized recovery which may power or enable the
+    // device. RecoverSafetyState never calls this method; it is reserved for
+    // RestoreOperationalState transactions.
+    virtual RecoveryCheckResult restoreOperationalState(
+        const RecoveryContext&)
+    {
+        return {
+            false,
+            SafetyReason::UnsupportedCommand,
+            "device does not support operational recovery"};
+    }
+    virtual RecoveryCheckResult reconcileAdmissionState(
+        const RecoveryContext& context) = 0;
+};
+
+class DeviceSafetyEndpointProvider {
+public:
+    virtual ~DeviceSafetyEndpointProvider() = default;
+    virtual std::shared_ptr<DeviceSafetyEndpoint> safetyEndpoint() = 0;
+};
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/include/safety_manager.h

@@ -0,0 +1,222 @@
+#pragma once
+
+#include <chrono>
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <string>
+#include <unordered_set>
+#include <vector>
+
+#include "manager/safety_manager/include/command_ledger.h"
+#include "manager/safety_manager/include/device_safety_endpoint.h"
+#include "manager/safety_manager/include/safety_participant.h"
+
+namespace cmvr::safety {
+
+struct SafetyManagerConfig {
+    EnforcementMode enforcement_mode{EnforcementMode::Shadow};
+    std::unordered_set<std::string> enforced_device_ids;
+    std::chrono::milliseconds stop_all_timeout{15000};
+    std::chrono::milliseconds recovery_timeout{10000};
+    CommandLedger::Config command_ledger;
+    std::size_t event_history_capacity{2048};
+    bool fail_startup_on_missing_control_capability{false};
+};
+
+struct AdmissionResult {
+    AdmissionDecision decision;
+    std::optional<AdmissionPermit> permit;
+};
+
+struct StartupCoverageIssue {
+    std::string target_id;
+    SafetyReason reason{SafetyReason::None};
+    std::string detail;
+};
+
+struct StartupCoverageResult {
+    bool ready{false};
+    std::vector<StartupCoverageIssue> issues;
+};
+
+struct DeviceSafetyStateView {
+    DeviceSafetyDescriptor descriptor;
+    SafetySnapshotView safety;
+    device::ManagedDeviceState lifecycle{
+        device::ManagedDeviceState::Unknown};
+    device::DeviceHealthSnapshot health;
+    DeviceAdmissionState admission_state{DeviceAdmissionState::Observing};
+    std::vector<SafetyBlocker> blockers;
+};
+
+struct ParticipantResultView {
+    bool recorded{false};
+    bool success{false};
+    SafetyReason reason{SafetyReason::None};
+    std::string detail;
+};
+
+struct ParticipantSafetyStateView {
+    ParticipantDescriptor descriptor;
+    bool registered{false};
+    bool barrier_active{false};
+    bool barrier_retained{false};
+    std::string operation_id;
+    std::uint64_t safety_epoch{0};
+    ParticipantResultView last_request;
+    ParticipantResultView last_verify;
+    ParticipantResultView last_release;
+};
+
+struct SafetyManagerSnapshot {
+    SystemAdmissionState system_state{SystemAdmissionState::Starting};
+    std::uint64_t safety_epoch{0};
+    std::string service_instance_id;
+    EnforcementMode enforcement_mode{EnforcementMode::Shadow};
+    std::string active_operation_id;
+    std::string active_operation_phase;
+    std::vector<DeviceSafetyStateView> devices;
+    std::vector<ParticipantSafetyStateView> participants;
+    std::vector<SafetyEvent> recent_events;
+};
+
+struct SafetyTargetResult {
+    std::string target_id;
+    bool success{false};
+    SafetyReason reason{SafetyReason::None};
+    std::string detail;
+    DeviceAdmissionState before_state{DeviceAdmissionState::Observing};
+    DeviceAdmissionState after_state{DeviceAdmissionState::Observing};
+};
+
+struct StopAllResult {
+    bool success{false};
+    std::string operation_id;
+    std::uint64_t previous_safety_epoch{0};
+    std::uint64_t current_safety_epoch{0};
+    SystemAdmissionState system_state{SystemAdmissionState::Starting};
+    std::vector<SafetyTargetResult> targets;
+};
+
+enum class RecoveryResultCode {
+    Recovered,
+    VerifiedButStillBlocked,
+    BlockerRemains,
+    EpochMismatch,
+    NothingToRecover,
+    TimedOut,
+    Failed,
+};
+
+struct RecoveryRequest {
+    std::string recovery_id;
+    std::vector<std::string> device_ids;
+    bool all_devices{false};
+    std::uint64_t expected_safety_epoch{0};
+    bool verify_only{true};
+    bool restore_operational_state{false};
+    std::string reason;
+    SafetyClock::time_point deadline{SafetyClock::time_point::max()};
+    // Authorizes the state-changing part of recovery. Operational restore
+    // calls this before invoking device recovery; software-only recovery calls
+    // it after hardware verification and before releasing admission barriers.
+    // A false result leaves admission latched and prevents device recovery.
+    std::function<bool()> authorize_clear;
+};
+
+struct RecoveryResult {
+    RecoveryResultCode result{RecoveryResultCode::Failed};
+    std::string recovery_id;
+    std::uint64_t previous_safety_epoch{0};
+    std::uint64_t current_safety_epoch{0};
+    SystemAdmissionState system_state{SystemAdmissionState::Starting};
+    std::vector<SafetyTargetResult> targets;
+};
+
+class SafetyManager;
+
+class DispatchGuard final {
+public:
+    DispatchGuard() noexcept = default;
+    ~DispatchGuard() noexcept;
+    DispatchGuard(DispatchGuard&& other) noexcept;
+    DispatchGuard& operator=(DispatchGuard&& other) noexcept;
+    DispatchGuard(const DispatchGuard&) = delete;
+    DispatchGuard& operator=(const DispatchGuard&) = delete;
+
+    bool acquired() const noexcept { return coordinator_ != nullptr; }
+    const HardwareCheckResult& hardwareCheck() const noexcept
+    {
+        return hardware_check_;
+    }
+
+private:
+    friend class SafetyManager;
+    DispatchGuard(SafetyManager* coordinator,
+                  std::string device_id,
+                  HardwareCheckResult hardware_check) noexcept;
+    void reset_() noexcept;
+
+    SafetyManager* coordinator_{nullptr};
+    std::string device_id_;
+    HardwareCheckResult hardware_check_;
+};
+
+class SafetyManager final {
+public:
+    explicit SafetyManager(SafetyManagerConfig config = {});
+    ~SafetyManager();
+    SafetyManager(const SafetyManager&) = delete;
+    SafetyManager& operator=(const SafetyManager&) = delete;
+
+    bool registerDevice(DeviceSafetyRegistration registration);
+    bool registerParticipant(std::shared_ptr<SafetyParticipant> participant);
+    bool unregisterParticipant(const std::string& participant_id);
+
+    void updateDeviceRuntimeState(
+        const std::string& device_id,
+        device::ManagedDeviceState lifecycle,
+        device::DeviceHealthSnapshot health = {});
+    std::optional<std::uint64_t> advanceDeviceGeneration(
+        const std::string& device_id);
+    StartupCoverageResult validateStartupCoverage(
+        SafetyClock::time_point deadline);
+    void markStartupComplete();
+
+    AdmissionResult admit(const AdmissionRequest& request);
+    // Lightweight session check. This validates the coordinator-owned epoch,
+    // generation, freshness, and admission state without calling the device
+    // endpoint or entering the hardware dispatch set.
+    HardwareCheckResult revalidatePermit(
+        const AdmissionPermit& permit) const;
+    DispatchGuard beginDispatch(const AdmissionPermit& permit);
+    void quarantineDevice(const std::string& device_id,
+                          SafetyReason reason,
+                          std::string operation_id = {});
+
+    StopAllResult stopAll(
+        std::string operation_id,
+        SafetyClock::time_point deadline = SafetyClock::time_point::max());
+    RecoveryResult recover(const RecoveryRequest& request);
+
+    SafetyManagerSnapshot snapshot() const;
+    CommandLedger& commandLedger() noexcept;
+    const std::string& serviceInstanceId() const noexcept;
+    const SafetyManagerConfig& config() const noexcept;
+
+private:
+    friend class DispatchGuard;
+    struct Impl;
+    bool publishSafetySnapshot(DeviceSafetySnapshot snapshot);
+    void beginShutdown() noexcept;
+    AdmissionDecision evaluate(const AdmissionRequest& request) const;
+    void endDispatch_(const std::string& device_id) noexcept;
+    std::unique_ptr<Impl> impl_;
+};
+
+const char* toString(RecoveryResultCode value) noexcept;
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/include/safety_participant.h

@@ -0,0 +1,88 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+#include <memory>
+#include <string>
+
+#include "manager/safety_manager/include/safety_types.h"
+
+namespace cmvr::safety {
+
+class DeviceSafetyEndpoint;
+
+enum class ParticipantPhase {
+    Ingress,
+    Scheduler,
+    ControlSession,
+    Actuator,
+    PeripheralActivity,
+    Verification,
+};
+
+struct ParticipantDescriptor {
+    std::string participant_id;
+    ParticipantPhase phase{ParticipantPhase::Actuator};
+    bool required{true};
+    std::chrono::milliseconds timeout{5000};
+};
+
+struct SafetyOperationContext {
+    std::string operation_id;
+    std::uint64_t safety_epoch{0};
+    SafetyClock::time_point deadline{SafetyClock::time_point::max()};
+};
+
+struct BarrierToken {
+    std::string participant_id;
+    std::string operation_id;
+    std::uint64_t safety_epoch{0};
+    std::uint64_t generation{0};
+
+    bool valid() const noexcept
+    {
+        return !participant_id.empty() && !operation_id.empty() &&
+               safety_epoch != 0 && generation != 0;
+    }
+};
+
+struct ParticipantResult {
+    bool success{false};
+    SafetyReason reason{SafetyReason::StopUnconfirmed};
+    std::string detail;
+};
+
+class SafetyParticipant {
+public:
+    virtual ~SafetyParticipant() = default;
+    virtual ParticipantDescriptor descriptor() const = 0;
+    virtual BarrierToken beginBarrier(
+        const SafetyOperationContext& context) = 0;
+    virtual ParticipantResult requestQuiesce(
+        const BarrierToken& token,
+        const SafetyOperationContext& context) = 0;
+    virtual ParticipantResult verifyQuiescent(
+        const BarrierToken& token,
+        const SafetyOperationContext& context) = 0;
+    virtual RecoveryCheckResult recoverAdmission(
+        const BarrierToken& token,
+        const RecoveryContext& context) = 0;
+    // Commits the participant's admission reopening. A failed commit must
+    // leave that participant fail-closed and be retryable through recovery.
+    virtual ParticipantResult releaseBarrier(
+        const BarrierToken& token) noexcept = 0;
+};
+
+class SafetyParticipantProvider {
+public:
+    virtual ~SafetyParticipantProvider() = default;
+    virtual std::shared_ptr<SafetyParticipant> safetyParticipant() = 0;
+};
+
+struct DeviceSafetyRegistration {
+    DeviceSafetyDescriptor descriptor;
+    std::shared_ptr<DeviceSafetyEndpoint> endpoint;
+    std::shared_ptr<SafetyParticipant> participant;
+};
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/include/safety_reason.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#include <string>
+
+namespace cmvr::safety {
+
+enum class SafetyReason {
+    None,
+    InvalidArgument,
+    Unauthenticated,
+    PermissionDenied,
+    RecoveryRpcDisabled,
+    DeviceNotFound,
+    DeviceUnavailable,
+    UnsupportedCommand,
+    SystemStarting,
+    SystemStopping,
+    SafetyLatched,
+    SafetyStateMissing,
+    SafetyStateStale,
+    HardwareUnsafe,
+    EmergencyStopActive,
+    ProtectiveStopActive,
+    DeviceDisconnected,
+    DeviceFault,
+    DeviceNotReady,
+    DeviceStillMoving,
+    ControlBusy,
+    GenerationMismatch,
+    CommandIdRequired,
+    CommandIdConflict,
+    ResultEvicted,
+    LedgerExhausted,
+    Backpressure,
+    DeadlineExceededBeforeDispatch,
+    OutcomeUnknown,
+    ParticipantTimeout,
+    StopUnconfirmed,
+    RecoveryEpochMismatch,
+    RecoveryReasonRequired,
+    RecoveryAuditFailed,
+    InternalError,
+};
+
+const char* toString(SafetyReason reason) noexcept;
+bool retryWithSameCommandId(SafetyReason reason) noexcept;
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/include/safety_snapshot_store.h

@@ -0,0 +1,54 @@
+#pragma once
+
+#include <condition_variable>
+#include <optional>
+#include <shared_mutex>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "manager/safety_manager/include/safety_types.h"
+
+namespace cmvr::safety {
+
+class SafetySnapshotStore final {
+public:
+    bool registerDevice(const DeviceSafetyDescriptor& descriptor,
+                        std::uint64_t initial_generation = 1);
+    bool unregisterDevice(const std::string& device_id);
+    bool publish(DeviceSafetySnapshot snapshot);
+    bool markUnknown(const std::string& device_id,
+                     SafetyReason reason,
+                     std::string source_id = {});
+    std::optional<std::uint64_t> bumpGeneration(
+        const std::string& device_id);
+
+    SafetySnapshotView get(
+        const std::string& device_id,
+        SafetyClock::time_point now = SafetyClock::now()) const;
+    std::vector<SafetySnapshotView> snapshot(
+        SafetyClock::time_point now = SafetyClock::now()) const;
+
+    bool waitForNewerSample(
+        const std::string& device_id,
+        std::uint64_t previous_sequence,
+        SafetyClock::time_point deadline,
+        SafetySnapshotView& result) const;
+
+private:
+    struct Slot {
+        DeviceSafetyDescriptor descriptor;
+        DeviceSafetySnapshot snapshot;
+        bool has_sample{false};
+    };
+
+    static SafetySnapshotView viewOf_(
+        const Slot& slot,
+        SafetyClock::time_point now);
+
+    mutable std::shared_mutex mutex_;
+    mutable std::condition_variable_any changed_;
+    std::unordered_map<std::string, Slot> slots_;
+};
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/include/safety_types.h

@@ -0,0 +1,235 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include "devices/device_types.h"
+#include "manager/safety_manager/include/safety_reason.h"
+
+namespace cmvr::safety {
+
+using SafetyClock = std::chrono::steady_clock;
+
+enum class TriState {
+    Unknown,
+    False,
+    True,
+};
+
+enum class SafetyCondition {
+    Nominal,
+    Restricted,
+    Unsafe,
+    Unknown,
+};
+
+enum class CommandIntent {
+    Observe,
+    StartActivity,
+    Configure,
+    Actuate,
+    Stop,
+    ResetFault,
+    RecoverAdmission,
+};
+
+enum class SafetyPolicyFamily {
+    Sensor,
+    Control,
+};
+
+enum class BlockerScope {
+    Device,
+    System,
+};
+
+enum class RecoveryRequirement {
+    RefreshOnly,
+    ClearSoftwareLatch,
+    HardwareReleaseRequired,
+    ManualInspectionRequired,
+};
+
+enum class SystemAdmissionState {
+    Starting,
+    Open,
+    Stopping,
+    Latched,
+    Recovering,
+    ShuttingDown,
+};
+
+enum class DeviceAdmissionState {
+    Observing,
+    Open,
+    Blocked,
+    Quarantined,
+    Recovering,
+    Removed,
+};
+
+enum class EnforcementMode {
+    Legacy,
+    Shadow,
+    EnforceSelected,
+    EnforceAll,
+};
+
+enum class CommandLifecycle {
+    Received,
+    Reserved,
+    RejectedBeforeDispatch,
+    Admitted,
+    Dispatching,
+    AcceptedByHardware,
+    Completed,
+    Failed,
+    CanceledBeforeDispatch,
+    OutcomeUnknown,
+};
+
+struct SafetyBlocker {
+    SafetyReason reason{SafetyReason::None};
+    BlockerScope scope{BlockerScope::Device};
+    RecoveryRequirement recovery_requirement{
+        RecoveryRequirement::RefreshOnly};
+    std::string source_id;
+    std::string operation_id;
+    std::uint64_t first_observed_at_unix_ms{0};
+    std::uint64_t last_observed_at_unix_ms{0};
+};
+
+struct DeviceSafetySnapshot {
+    std::string device_id;
+    SafetyCondition condition{SafetyCondition::Unknown};
+    std::uint64_t device_generation{0};
+    std::uint64_t sample_sequence{0};
+    SafetyClock::time_point observed_at{};
+    std::uint64_t observed_at_unix_ms{0};
+
+    TriState connected{TriState::Unknown};
+    TriState operational_ready{TriState::Unknown};
+    TriState quiescent{TriState::Unknown};
+    TriState motion_active{TriState::Unknown};
+    TriState actuator_enabled{TriState::Unknown};
+    TriState emergency_stop_active{TriState::Unknown};
+    TriState protective_stop_active{TriState::Unknown};
+    TriState fault_active{TriState::Unknown};
+
+    std::vector<SafetyBlocker> blockers;
+};
+
+struct DeviceSafetyDescriptor {
+    std::string device_id;
+    device::DeviceKind kind{device::DeviceKind::Unknown};
+    SafetyPolicyFamily default_policy{SafetyPolicyFamily::Sensor};
+    std::chrono::milliseconds maximum_snapshot_age{1000};
+    bool requires_safe_stop{false};
+    bool supports_active_refresh{false};
+    bool supports_non_enabling_fault_reset{false};
+};
+
+struct SafetySnapshotView {
+    DeviceSafetyDescriptor descriptor;
+    DeviceSafetySnapshot snapshot;
+    bool registered{false};
+    bool has_sample{false};
+    bool fresh{false};
+    std::chrono::milliseconds sample_age{
+        std::chrono::milliseconds::max()};
+};
+
+struct CommandActor {
+    std::string principal_id{"anonymous"};
+    bool authenticated{false};
+    std::vector<std::string> roles;
+};
+
+struct CommandDescriptor {
+    std::string full_method_name;
+    CommandIntent intent{CommandIntent::Observe};
+    SafetyPolicyFamily policy_family{SafetyPolicyFamily::Sensor};
+    bool mutating{false};
+    bool safety_lane{false};
+};
+
+struct AdmissionRequest {
+    CommandDescriptor command;
+    CommandActor actor;
+    std::string command_id;
+    std::string device_id;
+    std::optional<std::uint64_t> expected_device_generation;
+    std::uint64_t authority_generation{0};
+    SafetyClock::time_point deadline{SafetyClock::time_point::max()};
+};
+
+struct AdmissionDecision {
+    bool allowed{false};
+    bool policy_allowed{false};
+    bool enforced{false};
+    SafetyReason reason{SafetyReason::None};
+    std::string detail;
+    std::uint64_t safety_epoch{0};
+    std::uint64_t device_generation{0};
+};
+
+struct AdmissionPermit {
+    AdmissionPermit() = default;
+    AdmissionPermit(AdmissionPermit&&) noexcept = default;
+    AdmissionPermit& operator=(AdmissionPermit&&) noexcept = default;
+    AdmissionPermit(const AdmissionPermit&) = delete;
+    AdmissionPermit& operator=(const AdmissionPermit&) = delete;
+
+    std::string command_id;
+    std::string device_id;
+    CommandIntent intent{CommandIntent::Observe};
+    std::uint64_t safety_epoch{0};
+    std::uint64_t device_generation{0};
+    std::uint64_t authority_generation{0};
+    SafetyClock::time_point deadline{SafetyClock::time_point::max()};
+    bool policy_allowed{false};
+    bool enforced{false};
+};
+
+struct HardwareCheckResult {
+    bool safe{false};
+    SafetyReason reason{SafetyReason::SafetyStateMissing};
+    std::string detail;
+};
+
+struct RecoveryContext {
+    std::string recovery_id;
+    std::string reason;
+    std::uint64_t safety_epoch{0};
+    SafetyClock::time_point deadline{SafetyClock::time_point::max()};
+    bool verify_only{true};
+};
+
+struct RecoveryCheckResult {
+    bool reconciled{false};
+    SafetyReason reason{SafetyReason::None};
+    std::string detail;
+};
+
+struct SafetyEvent {
+    std::uint64_t sequence{0};
+    std::uint64_t safety_epoch{0};
+    std::uint64_t occurred_at_unix_ms{0};
+    std::string source_id;
+    std::string operation_id;
+    SafetyReason reason{SafetyReason::None};
+    std::string detail;
+};
+
+const char* toString(TriState value) noexcept;
+const char* toString(SafetyCondition value) noexcept;
+const char* toString(CommandIntent value) noexcept;
+const char* toString(SafetyPolicyFamily value) noexcept;
+const char* toString(SystemAdmissionState value) noexcept;
+const char* toString(DeviceAdmissionState value) noexcept;
+const char* toString(EnforcementMode value) noexcept;
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/src/command_ledger.cpp

@@ -0,0 +1,276 @@
+#include "manager/safety_manager/include/command_ledger.h"
+
+#include <algorithm>
+#include <cctype>
+#include <functional>
+#include <stdexcept>
+#include <utility>
+
+namespace cmvr::safety {
+
+namespace {
+
+constexpr std::size_t kMaxPrincipalIdLength = 256;
+constexpr std::size_t kMaxCommandIdLength = 128;
+
+bool validIdentifier(const std::string& value, const std::size_t maximum)
+{
+    if (value.empty() || value.size() > maximum) {
+        return false;
+    }
+    return std::all_of(
+        value.begin(), value.end(), [](const unsigned char character) {
+            return std::isalnum(character) || character == '-' ||
+                   character == '_' || character == '.' ||
+                   character == ':' || character == '/';
+        });
+}
+
+} // namespace
+
+CommandLedger::CommandLedger()
+    : CommandLedger(Config{})
+{
+}
+
+CommandLedger::CommandLedger(Config config)
+    : config_(config)
+{
+    if (config_.total_id_capacity == 0 ||
+        config_.result_capacity > config_.total_id_capacity) {
+        throw std::invalid_argument("invalid CommandLedger capacity");
+    }
+}
+
+std::size_t CommandLedger::KeyHash::operator()(
+    const CommandKey& key) const noexcept
+{
+    const auto first = std::hash<std::string>{}(key.effective_principal_id);
+    const auto second = std::hash<std::string>{}(key.command_id);
+    return first ^ (second + 0x9e3779b9U + (first << 6U) + (first >> 2U));
+}
+
+bool CommandLedger::validKey_(const CommandKey& key) noexcept
+{
+    return validIdentifier(
+               key.effective_principal_id, kMaxPrincipalIdLength) &&
+           validIdentifier(key.command_id, kMaxCommandIdLength);
+}
+
+CommandLedger::Reservation CommandLedger::reserve(
+    CommandKey key,
+    std::string payload_hash)
+{
+    if (!validKey_(key) || payload_hash.empty()) {
+        return {};
+    }
+
+    std::lock_guard lock(mutex_);
+    const auto live = records_.find(key);
+    if (live != records_.end()) {
+        const auto& state = live->second;
+        std::lock_guard state_lock(state->mutex);
+        if (state->payload_hash != payload_hash) {
+            return {CommandReservationStatus::CommandIdConflict, {}, {}};
+        }
+        if (state->terminal && state->outcome.has_value()) {
+            return {
+                CommandReservationStatus::CachedResult,
+                Ticket(state),
+                state->outcome};
+        }
+        return {
+            CommandReservationStatus::JoinedInFlight,
+            Ticket(state),
+            {}};
+    }
+
+    const auto retired = retired_ids_.find(key);
+    if (retired != retired_ids_.end()) {
+        return {
+            retired->second == payload_hash
+                ? CommandReservationStatus::ResultEvicted
+                : CommandReservationStatus::CommandIdConflict,
+            {},
+            {}};
+    }
+
+    if (records_.size() + retired_ids_.size() >=
+        config_.total_id_capacity) {
+        return {CommandReservationStatus::LedgerExhausted, {}, {}};
+    }
+
+    auto state = std::make_shared<State>();
+    state->key = std::move(key);
+    state->payload_hash = std::move(payload_hash);
+    const auto inserted = records_.emplace(state->key, state);
+    if (!inserted.second) {
+        throw std::logic_error("CommandLedger duplicate insertion");
+    }
+    return {
+        CommandReservationStatus::AcceptedNew,
+        Ticket(std::move(state)),
+        {}};
+}
+
+bool CommandLedger::setLifecycle(
+    const Ticket& ticket,
+    const CommandLifecycle lifecycle,
+    const std::uint64_t safety_epoch,
+    const std::uint64_t device_generation,
+    const bool hardware_submission_possible)
+{
+    if (!ticket.valid()) {
+        return false;
+    }
+    std::lock_guard ledger_lock(mutex_);
+    const auto found = records_.find(ticket.state_->key);
+    if (found == records_.end() || found->second != ticket.state_) {
+        return false;
+    }
+    std::lock_guard state_lock(ticket.state_->mutex);
+    if (ticket.state_->terminal) {
+        return false;
+    }
+    ticket.state_->lifecycle = lifecycle;
+    ticket.state_->safety_epoch = safety_epoch;
+    ticket.state_->device_generation = device_generation;
+    ticket.state_->hardware_submission_possible =
+        ticket.state_->hardware_submission_possible ||
+        hardware_submission_possible;
+    return true;
+}
+
+bool CommandLedger::complete(const Ticket& ticket, CommandOutcome outcome)
+{
+    if (!ticket.valid()) {
+        return false;
+    }
+
+    std::lock_guard ledger_lock(mutex_);
+    const auto found = records_.find(ticket.state_->key);
+    if (found == records_.end() || found->second != ticket.state_) {
+        return false;
+    }
+
+    {
+        std::lock_guard state_lock(ticket.state_->mutex);
+        if (ticket.state_->terminal) {
+            return false;
+        }
+        outcome.hardware_submission_possible =
+            outcome.hardware_submission_possible ||
+            ticket.state_->hardware_submission_possible;
+        if (outcome.safety_epoch == 0) {
+            outcome.safety_epoch = ticket.state_->safety_epoch;
+        }
+        if (outcome.device_generation == 0) {
+            outcome.device_generation = ticket.state_->device_generation;
+        }
+        ticket.state_->lifecycle = outcome.lifecycle;
+        ticket.state_->outcome = std::move(outcome);
+        ticket.state_->terminal = true;
+    }
+    ticket.state_->condition.notify_all();
+    terminal_order_.push_back(ticket.state_->key);
+    ++terminal_result_count_;
+    trimTerminalResultsLocked_();
+    return true;
+}
+
+void CommandLedger::trimTerminalResultsLocked_()
+{
+    std::size_t consumed = 0;
+    while (terminal_result_count_ > config_.result_capacity &&
+           consumed < terminal_order_.size()) {
+        const auto key = terminal_order_[consumed++];
+        const auto found = records_.find(key);
+        if (found == records_.end()) {
+            continue;
+        }
+        const auto& state = found->second;
+        std::lock_guard state_lock(state->mutex);
+        if (!state->terminal) {
+            continue;
+        }
+        retired_ids_.emplace(state->key, state->payload_hash);
+        records_.erase(found);
+        --terminal_result_count_;
+    }
+    if (consumed != 0) {
+        terminal_order_.erase(
+            terminal_order_.begin(),
+            terminal_order_.begin() + static_cast<std::ptrdiff_t>(consumed));
+    }
+}
+
+std::optional<CommandOutcome> CommandLedger::wait(
+    const Ticket& ticket,
+    const SafetyClock::time_point deadline) const
+{
+    if (!ticket.valid()) {
+        return std::nullopt;
+    }
+    std::unique_lock lock(ticket.state_->mutex);
+    if (deadline == SafetyClock::time_point::max()) {
+        ticket.state_->condition.wait(
+            lock, [&ticket] { return ticket.state_->terminal; });
+    } else if (!ticket.state_->condition.wait_until(
+                   lock, deadline,
+                   [&ticket] { return ticket.state_->terminal; })) {
+        return std::nullopt;
+    }
+    return ticket.state_->outcome;
+}
+
+std::optional<CommandOutcome> CommandLedger::lookup(
+    const CommandKey& key,
+    const std::string& payload_hash) const
+{
+    std::lock_guard lock(mutex_);
+    const auto found = records_.find(key);
+    if (found == records_.end()) {
+        return std::nullopt;
+    }
+    std::lock_guard state_lock(found->second->mutex);
+    if (found->second->payload_hash != payload_hash ||
+        !found->second->terminal) {
+        return std::nullopt;
+    }
+    return found->second->outcome;
+}
+
+std::size_t CommandLedger::acceptedIdCount() const
+{
+    std::lock_guard lock(mutex_);
+    return records_.size() + retired_ids_.size();
+}
+
+std::size_t CommandLedger::liveRecordCount() const
+{
+    std::lock_guard lock(mutex_);
+    return records_.size();
+}
+
+std::size_t CommandLedger::retiredIdCount() const
+{
+    std::lock_guard lock(mutex_);
+    return retired_ids_.size();
+}
+
+const char* toString(const CommandReservationStatus status) noexcept
+{
+    switch (status) {
+    case CommandReservationStatus::AcceptedNew: return "AcceptedNew";
+    case CommandReservationStatus::JoinedInFlight: return "JoinedInFlight";
+    case CommandReservationStatus::CachedResult: return "CachedResult";
+    case CommandReservationStatus::CommandIdConflict:
+        return "CommandIdConflict";
+    case CommandReservationStatus::ResultEvicted: return "ResultEvicted";
+    case CommandReservationStatus::LedgerExhausted: return "LedgerExhausted";
+    case CommandReservationStatus::Invalid: return "Invalid";
+    }
+    return "Invalid";
+}
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/src/safety_reason.cpp

@@ -0,0 +1,92 @@
+#include "manager/safety_manager/include/safety_reason.h"
+
+namespace cmvr::safety {
+
+const char* toString(const SafetyReason reason) noexcept
+{
+    switch (reason) {
+    case SafetyReason::None: return "NONE";
+    case SafetyReason::InvalidArgument: return "INVALID_ARGUMENT";
+    case SafetyReason::Unauthenticated: return "UNAUTHENTICATED";
+    case SafetyReason::PermissionDenied: return "PERMISSION_DENIED";
+    case SafetyReason::RecoveryRpcDisabled: return "RECOVERY_RPC_DISABLED";
+    case SafetyReason::DeviceNotFound: return "DEVICE_NOT_FOUND";
+    case SafetyReason::DeviceUnavailable: return "DEVICE_UNAVAILABLE";
+    case SafetyReason::UnsupportedCommand: return "UNSUPPORTED_COMMAND";
+    case SafetyReason::SystemStarting: return "SYSTEM_STARTING";
+    case SafetyReason::SystemStopping: return "SYSTEM_STOPPING";
+    case SafetyReason::SafetyLatched: return "SAFETY_LATCHED";
+    case SafetyReason::SafetyStateMissing: return "SAFETY_STATE_MISSING";
+    case SafetyReason::SafetyStateStale: return "SAFETY_STATE_STALE";
+    case SafetyReason::HardwareUnsafe: return "HARDWARE_UNSAFE";
+    case SafetyReason::EmergencyStopActive: return "EMERGENCY_STOP_ACTIVE";
+    case SafetyReason::ProtectiveStopActive: return "PROTECTIVE_STOP_ACTIVE";
+    case SafetyReason::DeviceDisconnected: return "DEVICE_DISCONNECTED";
+    case SafetyReason::DeviceFault: return "DEVICE_FAULT";
+    case SafetyReason::DeviceNotReady: return "DEVICE_NOT_READY";
+    case SafetyReason::DeviceStillMoving: return "DEVICE_STILL_MOVING";
+    case SafetyReason::ControlBusy: return "CONTROL_BUSY";
+    case SafetyReason::GenerationMismatch: return "GENERATION_MISMATCH";
+    case SafetyReason::CommandIdRequired: return "COMMAND_ID_REQUIRED";
+    case SafetyReason::CommandIdConflict: return "COMMAND_ID_CONFLICT";
+    case SafetyReason::ResultEvicted: return "RESULT_EVICTED";
+    case SafetyReason::LedgerExhausted: return "LEDGER_EXHAUSTED";
+    case SafetyReason::Backpressure: return "BACKPRESSURE";
+    case SafetyReason::DeadlineExceededBeforeDispatch:
+        return "DEADLINE_EXCEEDED_BEFORE_DISPATCH";
+    case SafetyReason::OutcomeUnknown: return "OUTCOME_UNKNOWN";
+    case SafetyReason::ParticipantTimeout: return "PARTICIPANT_TIMEOUT";
+    case SafetyReason::StopUnconfirmed: return "STOP_UNCONFIRMED";
+    case SafetyReason::RecoveryEpochMismatch: return "RECOVERY_EPOCH_MISMATCH";
+    case SafetyReason::RecoveryReasonRequired: return "RECOVERY_REASON_REQUIRED";
+    case SafetyReason::RecoveryAuditFailed: return "RECOVERY_AUDIT_FAILED";
+    case SafetyReason::InternalError: return "INTERNAL_ERROR";
+    }
+    return "INTERNAL_ERROR";
+}
+
+bool retryWithSameCommandId(const SafetyReason reason) noexcept
+{
+    switch (reason) {
+    case SafetyReason::RecoveryRpcDisabled:
+    case SafetyReason::SystemStopping:
+        return true;
+    case SafetyReason::None:
+    case SafetyReason::InvalidArgument:
+    case SafetyReason::Unauthenticated:
+    case SafetyReason::PermissionDenied:
+    case SafetyReason::DeviceNotFound:
+    case SafetyReason::DeviceUnavailable:
+    case SafetyReason::UnsupportedCommand:
+    case SafetyReason::SystemStarting:
+    case SafetyReason::SafetyLatched:
+    case SafetyReason::SafetyStateMissing:
+    case SafetyReason::SafetyStateStale:
+    case SafetyReason::HardwareUnsafe:
+    case SafetyReason::EmergencyStopActive:
+    case SafetyReason::ProtectiveStopActive:
+    case SafetyReason::DeviceDisconnected:
+    case SafetyReason::DeviceFault:
+    case SafetyReason::DeviceNotReady:
+    case SafetyReason::DeviceStillMoving:
+    case SafetyReason::ControlBusy:
+    case SafetyReason::GenerationMismatch:
+    case SafetyReason::CommandIdRequired:
+    case SafetyReason::CommandIdConflict:
+    case SafetyReason::ResultEvicted:
+    case SafetyReason::LedgerExhausted:
+    case SafetyReason::Backpressure:
+    case SafetyReason::DeadlineExceededBeforeDispatch:
+    case SafetyReason::OutcomeUnknown:
+    case SafetyReason::ParticipantTimeout:
+    case SafetyReason::StopUnconfirmed:
+    case SafetyReason::RecoveryEpochMismatch:
+    case SafetyReason::RecoveryReasonRequired:
+    case SafetyReason::RecoveryAuditFailed:
+    case SafetyReason::InternalError:
+        return false;
+    }
+    return false;
+}
+
+} // namespace cmvr::safety

cmvr-es/manager/safety_manager/src/safety_snapshot_store.cpp

@@ -0,0 +1,305 @@
+#include "manager/safety_manager/include/safety_snapshot_store.h"
+
+#include <algorithm>
+#include <limits>
+#include <mutex>
+#include <utility>
+
+namespace cmvr::safety {
+
+namespace {
+
+std::uint64_t unixTimeMs() noexcept
+{
+    const auto value = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::system_clock::now().time_since_epoch()).count();
+    return value > 0 ? static_cast<std::uint64_t>(value) : 1U;
+}
+
+} // namespace
+
+bool SafetySnapshotStore::registerDevice(
+    const DeviceSafetyDescriptor& descriptor,
+    const std::uint64_t initial_generation)
+{
+    if (descriptor.device_id.empty() ||
+        descriptor.maximum_snapshot_age <= std::chrono::milliseconds::zero() ||
+        initial_generation == 0) {
+        return false;
+    }
+
+    Slot slot;
+    slot.descriptor = descriptor;
+    slot.snapshot.device_id = descriptor.device_id;
+    slot.snapshot.device_generation = initial_generation;
+    slot.snapshot.condition = SafetyCondition::Unknown;
+
+    std::unique_lock lock(mutex_);
+    const auto inserted = slots_.emplace(descriptor.device_id, std::move(slot));
+    if (inserted.second) {
+        changed_.notify_all();
+    }
+    return inserted.second;
+}
+
+bool SafetySnapshotStore::unregisterDevice(const std::string& device_id)
+{
+    std::unique_lock lock(mutex_);
+    const bool removed = slots_.erase(device_id) != 0;
+    if (removed) {
+        changed_.notify_all();
+    }
+    return removed;
+}
+
+bool SafetySnapshotStore::publish(DeviceSafetySnapshot snapshot)
+{
+    if (snapshot.device_id.empty() || snapshot.device_generation == 0 ||
+        snapshot.sample_sequence == 0 ||
+        snapshot.observed_at == SafetyClock::time_point{}) {
+        return false;
+    }
+
+    std::unique_lock lock(mutex_);
+    const auto found = slots_.find(snapshot.device_id);
+    if (found == slots_.end()) {
+        return false;
+    }
+
+    auto& slot = found->second;
+    const auto current_generation = slot.snapshot.device_generation;
+    if (snapshot.device_generation < current_generation) {
+        return false;
+    }
+    if (snapshot.device_generation == current_generation &&
+        slot.has_sample &&
+        snapshot.sample_sequence <= slot.snapshot.sample_sequence) {
+        return false;
+    }
+    if (snapshot.observed_at_unix_ms == 0) {
+        snapshot.observed_at_unix_ms = unixTimeMs();
+    }
+    slot.snapshot = std::move(snapshot);
+    slot.has_sample = true;
+    changed_.notify_all();
+    return true;
+}
+
+bool SafetySnapshotStore::markUnknown(
+    const std::string& device_id,
+    const SafetyReason reason,
+    std::string source_id)
+{
+    std::unique_lock lock(mutex_);
+    const auto found = slots_.find(device_id);
+    if (found == slots_.end()) {
+        return false;
+    }
+
+    auto& slot = found->second;
+    DeviceSafetySnapshot snapshot;
+    snapshot.device_id = device_id;
+    snapshot.device_generation = slot.snapshot.device_generation;
+    snapshot.sample_sequence = slot.snapshot.sample_sequence + 1U;
+    if (snapshot.sample_sequence == 0) {
+        snapshot.sample_sequence = 1U;
+    }
+    snapshot.observed_at = SafetyClock::now();
+    snapshot.observed_at_unix_ms = unixTimeMs();
+    snapshot.condition = SafetyCondition::Unknown;
+    snapshot.blockers.push_back(SafetyBlocker{
+        reason,
+        BlockerScope::Device,
+        RecoveryRequirement::RefreshOnly,
+        source_id.empty() ? device_id : std::move(source_id),
+        {},
+        snapshot.observed_at_unix_ms,
+        snapshot.observed_at_unix_ms});
+    slot.snapshot = std::move(snapshot);
+    slot.has_sample = true;
+    changed_.notify_all();
+    return true;
+}
+
+std::optional<std::uint64_t> SafetySnapshotStore::bumpGeneration(
+    const std::string& device_id)
+{
+    std::unique_lock lock(mutex_);
+    const auto found = slots_.find(device_id);
+    if (found == slots_.end()) {
+        return std::nullopt;
+    }
+    auto& slot = found->second;
+    if (slot.snapshot.device_generation ==
+        std::numeric_limits<std::uint64_t>::max()) {
+        return std::nullopt;
+    }
+    ++slot.snapshot.device_generation;
+    slot.snapshot.sample_sequence = 0;
+    slot.snapshot.observed_at = {};
+    slot.snapshot.observed_at_unix_ms = 0;
+    slot.snapshot.condition = SafetyCondition::Unknown;
+    slot.snapshot.blockers.clear();
+    slot.has_sample = false;
+    changed_.notify_all();
+    return slot.snapshot.device_generation;
+}
+
+SafetySnapshotView SafetySnapshotStore::viewOf_(
+    const Slot& slot,
+    const SafetyClock::time_point now)
+{
+    SafetySnapshotView view;
+    view.descriptor = slot.descriptor;
+    view.snapshot = slot.snapshot;
+    view.registered = true;
+    view.has_sample = slot.has_sample;
+    if (!slot.has_sample ||
+        slot.snapshot.observed_at == SafetyClock::time_point{}) {
+        return view;
+    }
+
+    const auto elapsed = now <= slot.snapshot.observed_at
+        ? SafetyClock::duration::zero()
+        : now - slot.snapshot.observed_at;
+    view.sample_age = std::chrono::duration_cast<std::chrono::milliseconds>(
+        elapsed);
+    view.fresh = view.sample_age <= slot.descriptor.maximum_snapshot_age;
+    return view;
+}
+
+SafetySnapshotView SafetySnapshotStore::get(
+    const std::string& device_id,
+    const SafetyClock::time_point now) const
+{
+    std::shared_lock lock(mutex_);
+    const auto found = slots_.find(device_id);
+    if (found == slots_.end()) {
+        return {};
+    }
+    return viewOf_(found->second, now);
+}
+
+std::vector<SafetySnapshotView> SafetySnapshotStore::snapshot(
+    const SafetyClock::time_point now) const
+{
+    std::vector<SafetySnapshotView> result;
+    std::shared_lock lock(mutex_);
+    result.reserve(slots_.size());
+    for (const auto& [id, slot] : slots_) {
+        (void)id;
+        result.push_back(viewOf_(slot, now));
+    }
+    std::sort(result.begin(), result.end(), [](const auto& lhs, const auto& rhs) {
+        return lhs.descriptor.device_id < rhs.descriptor.device_id;
+    });
+    return result;
+}
+
+bool SafetySnapshotStore::waitForNewerSample(
+    const std::string& device_id,
+    const std::uint64_t previous_sequence,
+    const SafetyClock::time_point deadline,
+    SafetySnapshotView& result) const
+{
+    std::unique_lock lock(mutex_);
+    const auto ready = [&]() {
+        const auto found = slots_.find(device_id);
+        return found == slots_.end() ||
+               (found->second.has_sample &&
+                found->second.snapshot.sample_sequence > previous_sequence);
+    };
+    if (!changed_.wait_until(lock, deadline, ready)) {
+        return false;
+    }
+    const auto found = slots_.find(device_id);
+    if (found == slots_.end()) {
+        return false;
+    }
+    result = viewOf_(found->second, SafetyClock::now());
+    return result.has_sample &&
+           result.snapshot.sample_sequence > previous_sequence;
+}
+
+const char* toString(const TriState value) noexcept
+{
+    switch (value) {
+    case TriState::Unknown: return "Unknown";
+    case TriState::False: return "False";
+    case TriState::True: return "True";
+    }
+    return "Unknown";
+}
+
+const char* toString(const SafetyCondition value) noexcept
+{
+    switch (value) {
+    case SafetyCondition::Nominal: return "Nominal";
+    case SafetyCondition::Restricted: return "Restricted";
+    case SafetyCondition::Unsafe: return "Unsafe";
+    case SafetyCondition::Unknown: return "Unknown";
+    }
+    return "Unknown";
+}
+
+const char* toString(const CommandIntent value) noexcept
+{
+    switch (value) {
+    case CommandIntent::Observe: return "Observe";
+    case CommandIntent::StartActivity: return "StartActivity";
+    case CommandIntent::Configure: return "Configure";
+    case CommandIntent::Actuate: return "Actuate";
+    case CommandIntent::Stop: return "Stop";
+    case CommandIntent::ResetFault: return "ResetFault";
+    case CommandIntent::RecoverAdmission: return "RecoverAdmission";
+    }
+    return "Observe";
+}
+
+const char* toString(const SafetyPolicyFamily value) noexcept
+{
+    switch (value) {
+    case SafetyPolicyFamily::Sensor: return "Sensor";
+    case SafetyPolicyFamily::Control: return "Control";
+    }
+    return "Sensor";
+}
+
+const char* toString(const SystemAdmissionState value) noexcept
+{
+    switch (value) {
+    case SystemAdmissionState::Starting: return "Starting";
+    case SystemAdmissionState::Open: return "Open";
+    case SystemAdmissionState::Stopping: return "Stopping";
+    case SystemAdmissionState::Latched: return "Latched";
+    case SystemAdmissionState::Recovering: return "Recovering";
+    case SystemAdmissionState::ShuttingDown: return "ShuttingDown";
+    }
+    return "Starting";
+}
+
+const char* toString(const DeviceAdmissionState value) noexcept
+{
+    switch (value) {
+    case DeviceAdmissionState::Observing: return "Observing";
+    case DeviceAdmissionState::Open: return "Open";
+    case DeviceAdmissionState::Blocked: return "Blocked";
+    case DeviceAdmissionState::Quarantined: return "Quarantined";
+    case DeviceAdmissionState::Recovering: return "Recovering";
+    case DeviceAdmissionState::Removed: return "Removed";
+    }
+    return "Observing";
+}
+
+const char* toString(const EnforcementMode value) noexcept
+{
+    switch (value) {
+    case EnforcementMode::Legacy: return "Legacy";
+    case EnforcementMode::Shadow: return "Shadow";
+    case EnforcementMode::EnforceSelected: return "EnforceSelected";
+    case EnforcementMode::EnforceAll: return "EnforceAll";
+    }
+    return "Legacy";
+}
+
+} // namespace cmvr::safety

cmvr-es/service/README.md

@@ -6,13 +6,33 @@
 
 ## 当前结构
 
+`service/` 顶层只按传输协议保留两个子目录：`grpc/` 和 `quic_edge/`。gRPC
+内部再按运行角色分层，避免把队列、停止控制、客户端和服务端实现混在同一层。
+
+```text
+service/
+├── grpc/
+│   ├── action/                    # ActionQueue 校验、账本和 FIFO 执行器
+│   ├── client/                    # 边缘端使用的 gRPC client
+│   ├── server/                    # gRPC service、协调器和安全扩展
+│   │   ├── include/
+│   │   ├── src/
+│   │   └── tests/
+│   └── stop_all/                  # 高优先级 StopAll 通道
+└── quic_edge/                     # QUIC client、控制状态机和媒体 packetizer
+```
+
 | 目录 | 职责 |
 | --- | --- |
-| `grpc/` | 入站设备控制、状态查询和兼容流式接口 |
+| `grpc/action/` | SystemService ActionQueue 的校验、幂等账本和边缘端 FIFO 执行器 |
+| `grpc/client/` | 面向边缘端内部调用的 gRPC client |
+| `grpc/server/` | 入站设备控制、状态查询、兼容流式接口和安全控制面 |
+| `grpc/stop_all/` | 不进入普通命令队列的高优先级停止通道 |
 | `quic_edge/` | 边缘端主动连接平台的 QUIC client、控制状态机和媒体 packetizer |
 | `quic_edge/tests/` | 已登记到 CTest 的 QUIC 协议测试 |
 
-两个遗留 gRPC client test 位于 `grpc/src/*_client_test.cpp`，当前没有通过 `add_test()` 登记。
+两个遗留 gRPC client test 位于 `grpc/server/tests/*_client_test.cpp`，当前没有通过
+`add_test()` 登记；它们是历史可执行文件，不代表默认自动覆盖。
 
 gRPC 和 QUIC 的职责边界：
 
@@ -21,6 +41,104 @@ gRPC 和 QUIC 的职责边界：
 - 实时音视频使用 QUIC DATAGRAM；
 - `quic_edge/` 不是平台 Gateway，也不是浏览器服务器。
 
+## SystemService 设备清单
+
+`SystemService/GetDeviceList` 返回 `DeviceManager` 的当前只读快照，只包含
+`enabled=true` 的设备。启用但创建、初始化、启动或健康检查失败的设备仍会返回，
+并通过 `manager_state`、`health`、`has_error` 和 `error_message` 描述异常。
+接口同时返回稳定的 `device_type` 和仅用于展示/诊断的具体 `type_name`；调用方
+不得使用 `type_name` 做设备类别判断。
+
+该 RPC 不修改配置、不动态注册设备，也不触发设备生命周期操作。启用 reflection
+后可直接查询：
+
+```bash
+grpcurl -plaintext \
+  -d '{}' \
+  127.0.0.1:50052 \
+  cmvr.api.SystemService/GetDeviceList
+```
+
+## SystemService ActionQueue
+
+`SystemService/ExecuteActionQueue` 接收一个完整的有限动作序列，在边缘端排队并
+逐步串行执行，所有步骤结束后返回最终结果。平台只需要提交一次请求，因此连续机械臂
+动作不会再受到每个单独 gRPC 往返和 Wi-Fi 抖动的影响。
+
+当前 v1 仅允许以下 `ActionStep.command`：
+
+- 机械臂同步 `MoveJ`、`MoveL`；
+- AGV 同步 `navigateToPose`、`navigateToStation`、`followPath`；
+- 边缘端本地 `delay`。
+
+机械臂和 AGV 请求复用各自已有的类型化 Request，目标设备仍由每一步的
+`header.device_id` 指定。所有运动步骤必须设置 `asynchronous=false`；`MoveL` v1 仅接受
+Base frame；AGV 后端还必须明确支持同步导航终态确认。`speedJ`、`speedL`、`servoJ`、
+AGV `translate`、速度控制、查询和流式 RPC 都不属于 ActionQueue v1。
+
+ActionQueue 遵循以下执行语义：
+
+- 平台先调用 `GetSystemInfo` 读取 `action_service_instance_id`，并在每次提交和重试中填入
+  `expected_service_instance_id`。ActionQueue 账本随服务实例重建；若断线期间边缘服务重启，
+  旧实例 ID 会被拒绝，平台必须先对账，不能用新 ID 自动重放不确定的动作；
+- `action_id` 是必填的全局唯一幂等键；同一服务实例内，相同内容的已受理请求不会重复下发
+  设备命令，相同 ID 但内容不同的请求必须拒绝。服务端缓存最近 4096 个完整结果，更早的
+  已执行 ID 由精确 retired-ID 账本 fail-closed 拒绝、不会重跑；单实例最多记录
+  262144 个已受理 ID，达到容量后仅拒绝新 ID，已有 ID 仍可查询；
+- 入队前校验全部步骤、设备、参数和同步能力，校验失败时不会执行任何步骤；
+- v1 每个请求最多 256 步、序列化大小最多 512 KiB、排队或执行中的 Action 最多 64 个、
+  同时提交或等待结果的 RPC 最多 256 个；Action 与单步超时上限均为 24 小时，
+  `total_timeout_ms=0` 使用 30 分钟默认值，AGV 路径最多 4096 段；
+- `total_timeout_ms` 包含排队与执行时间，单步 `timeout_ms=0` 时继承 Action 剩余时间
+  或服务端默认值；所有超时值均由服务端施加上限；
+- 任一步失败、取消或超时后立即停止序列，不再执行后续步骤；`completed_steps` 表示此前
+  成功完成的步骤数，`failed_step_index` 仅在存在对应失败步骤时出现；
+- Action 一旦受理，不因平台连接中断而自动取消；断线只结束该 RPC waiter，边缘动作继续。
+  平台可用相同 `action_id` 重试并取得仍在缓存中的同一次执行结果；
+- `StopAll`、机械臂 `stopMotion`、AGV `cancelNavigation` 和软件急停不进入 FIFO，必须
+  作为高优先级安全/抢占路径执行。它们仍不具备功能安全等级。
+- 机械臂步骤超时会立即走 typed `stopMotion` 并等待停车确认；若无法确认停车，设备控制权
+  保持隔离，不会继续后续步骤或接受新的普通控制命令；需先按设备安全流程确认状态，再
+  重启边缘服务恢复控制。
+- AGV 的取消 ACK、零速度 ACK 均不等于停稳；ActionQueue 和安全停止 RPC 只有在导航任务
+  终态且底盘连续零速度采样确认后才释放控制权，否则同样保留隔离。
+
+已知的执行完成、业务失败、取消、超时和预校验拒绝由 `ActionResultCode` 与
+`CommandHeader.Feedback` 表达。`ActionDeduplicationStatus` 结构化区分新受理、合并等待、
+缓存结果、已淘汰结果、账本耗尽、ID 冲突和服务实例不匹配；平台不得通过解析错误字符串
+判断动作是否执行过。
+`ACTION_RESULT_CODE_UNSPECIFIED` 不得作为服务端最终结果。
+
+## MotorService
+
+`MotorService` 将 gRPC 电机命令适配到已经由 `DeviceManager` 创建的
+`MotorManager` 和 `AbstractMotor`，不直接持有现场总线或厂商驱动。
+
+关键文件：
+
+- Proto：[`../../protos/cmvr/api/motor_service.proto`](../../protos/cmvr/api/motor_service.proto)
+  和 [`../../protos/cmvr/api/motor_command.proto`](../../protos/cmvr/api/motor_command.proto)
+- 实现：[`grpc/server/include/grpc_motor_service.h`](grpc/server/include/grpc_motor_service.h)
+  和 [`grpc/server/src/grpc_motor_service.cpp`](grpc/server/src/grpc_motor_service.cpp)
+- 注册：[`../task/grpc_server_task/src/grpc_server_task.cpp`](../task/grpc_server_task/src/grpc_server_task.cpp)
+
+服务按单电机仲裁。同步 Profile 命令、Cyclic Position/Velocity 双向流、
+`setEnabled`、状态读取和软件 `emergencyStop` 共用同一控制权状态：
+
+- 同一电机已有 owner 时拒绝新的控制调用；
+- cyclic 流首帧必须是 `open`，后续 setpoint sequence 必须严格递增；
+- reader 使用 latest-wins 邮箱，客户端必须持续并发读取反馈；
+- 取消、deadline、watchdog、非法帧、后端拒绝或写失败都会触发 Quick Stop；
+- 任何清理 Quick Stop 未确认时，服务进入 fail-closed 锁存；
+- 只有成功执行 `setEnabled(true)` 才解除服务内软件急停锁存；
+- 服务层 Quick Stop 和 `emergencyStop` 都不具备功能安全等级。
+
+AUBO 控制柜 IO 不经过 `MotorService`，由
+`ArmService/ExecuteJsonCommand` 转发到目标 `RobotArm`。厂商命令和安全约束见
+[AUBO 控制柜 IO](../devices/arm/aubo_arm/README.md)。
+旧的 `SystemService/ExecuteJsonCommand` 已移除；相机 PTZ 应使用类型化的
+`CameraService/ControlPtz`。
+
 ## 新增 gRPC Service
 
 当前没有动态 service registry，必须完成以下全部步骤。
@@ -40,8 +158,9 @@ import 路径必须相对于 `protos/`。兼容规则见 [`../../protos/README.m
 
 ```text
 service/grpc/
-├── include/grpc_example_service.h
+└── server/
-└── src/grpc_example_service.cpp
+    ├── include/grpc_example_service.h
+    └── src/grpc_example_service.cpp
 ```
 
 实现类继承生成的：
@@ -103,7 +222,7 @@ cmvr::api::ExampleService::Service
 
 - 检查 `context->IsCancelled()`；
 - 检查 `Read()` / `Write()` 返回；
-- 使用 RAII 或 MediaSourceHub Subscription 释放 producer lease；
+- 使用 RAII 或 MediaSourceManager Subscription 释放 producer lease；
 - 不持有设备状态锁进行网络写；
 - 为 wait/read 使用有限 timeout；
 - 慢客户端不能阻塞设备生产线程；
@@ -111,7 +230,7 @@ cmvr::api::ExampleService::Service
 - gRPC RGB 流在积压超过 `camera_stream_max_pending_frames` 或帧龄超过
   `camera_stream_max_frame_age_ms` 时主动丢弃旧帧，请求 IDR，并从下一个关键帧恢复。
 
-当前仅 gRPC RGB 和麦克风流使用 MediaSourceHub；Depth/RGBD 仍直接读取设备帧。
+当前仅 gRPC RGB 和麦克风流使用 MediaSourceManager；Depth/RGBD 仍直接读取设备帧。
 
 gRPC 相机实时流默认最多保留 2 帧积压、最大允许 250 ms 帧龄。两个配置项填 0
 时使用上述默认值。该策略以低延迟为目标，不保证每个视频帧都到达客户端；控制命令

cmvr-es/service/grpc/CMakeLists.txt

@@ -0,0 +1,120 @@
+
+add_library(service
+        stop_all/src/stop_operation_dispatcher.cpp
+        action/src/action_queue_executor.cpp
+        server/src/camera_ptz_activity_registry.cpp
+        server/src/media_activity_coordinator.cpp
+        server/src/motor_activity_coordinator.cpp
+        server/src/grpc_camera_service.cpp
+        server/src/grpc_command_transaction.cpp
+        server/src/grpc_error_logging_interceptor.cpp
+        server/src/grpc_recovery_audit.cpp
+        server/src/grpc_safety_proto.cpp
+        server/src/grpc_safety_participants.cpp
+        server/src/grpc_security.cpp
+        server/src/grpc_system_service.cpp
+        server/src/grpc_speaker_service.cpp
+        server/src/grpc_microphone_service.cpp
+        server/src/grpc_head_service.cpp
+        server/src/grpc_dexhand_service.cpp
+        server/src/grpc_arm_service.cpp
+        server/src/grpc_arm_teleop_service.cpp
+        server/src/grpc_robot_arm_teleop_backend.cpp
+        server/src/grpc_motor_service.cpp
+        server/src/grpc_agv_service.cpp
+        server/src/grpc_hlc_service.cpp
+        ../../task/grpc_server_task/src/grpc_server_task.cpp
+)
+
+target_include_directories(service PUBLIC
+        ${CMAKE_SOURCE_DIR}/cmvr-es
+)
+
+target_link_libraries(service PRIVATE
+        cmvr_es::proto
+        cmvr_es::stop_all_admission_gate
+        cmvr_es::camera_operational_activity_registry
+        osqp
+        cmvr_es::control_authority_manager
+        cmvr_es::device_manager
+        cmvr_es::task_manager
+        cmvr_es::algorithms::controller
+        cmvr_es::task
+        cmvr_es::media_source_manager
+        cmvr_es::device_media_source_adapter
+        protobuf::libprotobuf
+)
+
+add_library(cmvr_es::service ALIAS service)
+install(TARGETS service LIBRARY DESTINATION lib)
+
+if(BUILD_TESTING)
+    add_executable(grpc_camera_stream_policy_test
+            server/tests/grpc_camera_stream_policy_test.cpp
+    )
+    target_include_directories(grpc_camera_stream_policy_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    add_test(
+            NAME grpc_camera_stream_policy_test
+            COMMAND grpc_camera_stream_policy_test
+    )
+    set_tests_properties(grpc_camera_stream_policy_test PROPERTIES TIMEOUT 10)
+endif()
+
+# --------------------------------------------------------
+# Unit test
+# --------------------------------------------------------
+find_package(OpenCV REQUIRED)
+
+include_directories(
+        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
+)
+
+link_directories(
+        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
+)
+
+
+add_executable(grpc_arm_client_test
+        server/tests/grpc_arm_client_test.cpp
+)
+
+
+target_link_libraries(grpc_arm_client_test
+        PRIVATE
+        cmvr_es::device::canbus
+        cmvr_es::device::ti5_canopen_motor_driver
+        osqp
+        gtest
+        gtest_main
+        pthread
+        glog
+        cmvr_es::proto
+        ccd
+        fcl
+        cmvr_es::device_manager
+        ${OpenCV_LIBS}
+)
+
+
+add_executable(grpc_hlc_client_test
+        server/tests/grpc_hlc_client_test.cpp
+)
+
+
+target_link_libraries(grpc_hlc_client_test
+        PRIVATE
+        cmvr_es::device::canbus
+        cmvr_es::device::ti5_canopen_motor_driver
+        osqp
+        gtest
+        gtest_main
+        pthread
+        glog
+        cmvr_es::proto
+        ccd
+        fcl
+        cmvr_es::device_manager
+)

cmvr-es/service/grpc/client/CMakeLists.txt

@@ -0,0 +1,16 @@
+find_package(Threads REQUIRED)
+
+add_library(arm_teleop_client STATIC
+        src/grpc_arm_teleop_client.cpp
+)
+target_compile_features(arm_teleop_client PUBLIC cxx_std_17)
+target_include_directories(arm_teleop_client PUBLIC ${PROJECT_SOURCE_DIR}/cmvr-es)
+target_link_libraries(arm_teleop_client
+        PUBLIC
+        cmvr_es::proto
+        PRIVATE
+        Threads::Threads
+)
+
+add_library(cmvr_es::arm_teleop_client ALIAS arm_teleop_client)
+install(TARGETS arm_teleop_client ARCHIVE DESTINATION lib)

cmvr-es/service/grpc/include/grpc_agv_service.h

@@ -73,6 +73,11 @@ public:
                              const api::CommandHeader_Request* request,
                              api::CommandHeader_Feedback* response) override;
 
+
+    grpc::Status relocalize(grpc::ServerContext* context,
+                            const api::AgvRelocalizeCommand_Request* request,
+                            api::AgvRelocalizeCommand_Feedback* response) override;
+
 private:
     device::DeviceManager& dmgr_;
 };

cmvr-es/service/grpc/server/include/grpc_system_service.h

@@ -0,0 +1,68 @@
+//
+// Created by xtkuang on 2025/6/6.
+//
+
+#ifndef GRPC_SYSTEM_SERVICE_H
+#define GRPC_SYSTEM_SERVICE_H
+
+#include <chrono>
+#include <memory>
+
+#include "cmvr/api/system_service.grpc.pb.h"
+#include "common/base/grpc_utils.h"
+#include "manager/device_manager/include/device_manager.h"
+
+namespace cmvr::service
+{
+    class ActionQueueExecutor;
+    class RecoveryAuditSink;
+    class GrpcSafetyParticipantRegistration;
+    class GrpcSecurityGateway;
+    class StopOperationDispatcher;
+
+    class gRPCSystemServiceImpl: public api::SystemService::Service {
+    public:
+        gRPCSystemServiceImpl();
+        explicit gRPCSystemServiceImpl(
+            std::chrono::milliseconds stop_timeout);
+        explicit gRPCSystemServiceImpl(
+            std::shared_ptr<GrpcSecurityGateway> security_gateway);
+        gRPCSystemServiceImpl(
+            std::chrono::milliseconds stop_timeout,
+            std::shared_ptr<GrpcSecurityGateway> security_gateway);
+        gRPCSystemServiceImpl(
+            std::chrono::milliseconds stop_timeout,
+            std::shared_ptr<GrpcSecurityGateway> security_gateway,
+            std::shared_ptr<RecoveryAuditSink> recovery_audit_sink);
+        ~gRPCSystemServiceImpl() override;
+        // Exposed only to synchronize lifecycle concurrency tests.
+        static bool waitForStopDispatcherDestructionForTesting(
+            std::chrono::milliseconds timeout);
+        // Called by GrpcServerTask before grpc::Server::Shutdown so accepted
+        // ActionQueue handlers can reach a terminal result and do not hold the
+        // synchronous server shutdown open indefinitely.
+        void prepareForShutdown();
+        grpc::Status GetSystemInfo(grpc::ServerContext* context, const api::GetSystemInfoCommand_Request* request, api::GetSystemInfoCommand_Feedback* response) override;
+        grpc::Status GetSystemStatus(grpc::ServerContext* context, const api::GetSystemStatusCommand_Request* request, api::GetSystemStatusCommand_Feedback* response) override;
+        grpc::Status GetDeviceList(grpc::ServerContext* context, const api::GetDeviceListCommand_Request* request, api::GetDeviceListCommand_Feedback* response) override;
+        grpc::Status UpdateParams(grpc::ServerContext* context, const cmvr::api::UpdateParamsCommand_Request* request, cmvr::api::UpdateParamsCommand_Feedback* response) override;
+        grpc::Status StopAll(grpc::ServerContext* context, const cmvr::api::StopAllCommand_Request* request, cmvr::api::StopAllCommand_Feedback* response) override;
+        grpc::Status ExecuteActionQueue(grpc::ServerContext* context, const cmvr::api::ActionQueueCommand_Request* request, cmvr::api::ActionQueueCommand_Feedback* response) override;
+        grpc::Status GetSafetyState(grpc::ServerContext* context, const cmvr::api::GetSafetyStateCommand_Request* request, cmvr::api::GetSafetyStateCommand_Feedback* response) override;
+        grpc::Status RecoverSafetyState(grpc::ServerContext* context, const cmvr::api::RecoverSafetyStateCommand_Request* request, cmvr::api::RecoverSafetyStateCommand_Feedback* response) override;
+        grpc::Status RestoreOperationalState(grpc::ServerContext* context, const cmvr::api::RestoreOperationalStateCommand_Request* request, cmvr::api::RestoreOperationalStateCommand_Feedback* response) override;
+    private:
+        device::DeviceManager& dmgr_;
+        const std::chrono::milliseconds stop_timeout_;
+        std::shared_ptr<GrpcSecurityGateway> security_gateway_;
+        std::shared_ptr<RecoveryAuditSink> recovery_audit_sink_;
+        // Process instances share running jobs through a lifecycle registry.
+        // The last service owner joins every worker before replacement.
+        std::shared_ptr<StopOperationDispatcher> stop_dispatcher_;
+        std::shared_ptr<ActionQueueExecutor> action_queue_;
+        std::unique_ptr<GrpcSafetyParticipantRegistration>
+            safety_participant_registration_;
+    };
+}
+
+#endif //GRPC_SYSTEM_SERVICE_H

cmvr-es/service/grpc/server/src/grpc_arm_service.cpp

@@ -0,0 +1,918 @@
+#include "service/grpc/server/include/grpc_arm_service.h"
+
+#include <atomic>
+#include <chrono>
+#include <utility>
+
+#include <google/protobuf/util/time_util.h>
+
+#include "common/base/logging/logger.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
+
+using google::protobuf::util::TimeUtil;
+
+namespace cmvr::service {
+
+namespace {
+
+void fillFeedback(api::CommandHeader_Feedback* feedback,
+                  const bool success,
+                  const std::string& message = {})
+{
+    feedback->set_success(success);
+    feedback->set_error_message(message);
+    *feedback->mutable_timestamp() = TimeUtil::GetCurrentTime();
+}
+
+grpc::Status resultToStatus(const device::Result& result)
+{
+    if (result.ok()) {
+        return grpc::Status::OK;
+    }
+    return grpc::Status(grpc::StatusCode::INTERNAL, result.message);
+}
+
+void logRpcSuccess(const char* rpc_name, const std::string& device_id)
+{
+    CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (" << rpc_name
+                    << "): success, id=" << device_id;
+}
+
+device::FrameType toFrameType(const api::ArmFrameType frame)
+{
+    switch (frame) {
+        case api::ARM_FRAME_TOOL:
+            return device::FrameType::Tool;
+        case api::ARM_FRAME_WORLD:
+            return device::FrameType::World;
+        case api::ARM_FRAME_USER:
+            return device::FrameType::User;
+        case api::ARM_FRAME_BASE:
+        default:
+            return device::FrameType::Base;
+    }
+}
+
+device::JointPositionCommand toJointPositionCommand(const api::JointPositionCommand& src)
+{
+    device::JointPositionCommand dst;
+    dst.position.assign(src.position().begin(), src.position().end());
+    return dst;
+}
+
+device::JointVelocityCommand toJointVelocityCommand(const api::JointVelocityCommand& src)
+{
+    device::JointVelocityCommand dst;
+    dst.velocity.assign(src.velocity().begin(), src.velocity().end());
+    return dst;
+}
+
+device::MotionOptions toMotionOptions(
+    const api::MotionOptions& src,
+    std::function<bool()> cancellation_requested = {})
+{
+    device::MotionOptions dst;
+    dst.velocity = src.velocity();
+    dst.acceleration = src.acceleration();
+    dst.blend_radius = src.blend_radius();
+    dst.jerk = src.jerk() > 0.0 ? src.jerk() : 5.0;
+    dst.joint_velocity_limits.assign(src.joint_velocity_limits().begin(),
+                                     src.joint_velocity_limits().end());
+    dst.asynchronous = src.asynchronous();
+    dst.cancellation_requested = std::move(cancellation_requested);
+    return dst;
+}
+
+device::CartesianPose toCartesianPose(const api::CartesianPose& src)
+{
+    return {src.x(), src.y(), src.z(), src.rx(), src.ry(), src.rz()};
+}
+
+api::CartesianPose toApiCartesianPose(const device::CartesianPose& src)
+{
+    api::CartesianPose dst;
+    dst.set_x(src.x);
+    dst.set_y(src.y);
+    dst.set_z(src.z);
+    dst.set_rx(src.rx);
+    dst.set_ry(src.ry);
+    dst.set_rz(src.rz);
+    return dst;
+}
+
+device::CartesianVelocity toCartesianVelocity(const api::CartesianVelocity& src)
+{
+    return {src.vx(), src.vy(), src.vz(), src.wx(), src.wy(), src.wz()};
+}
+
+template <typename Response>
+grpc::Status setResponseResult(Response* response, const device::Result& result)
+{
+    fillFeedback(response->mutable_header(), result.ok(), result.ok() ? "" : result.message);
+    return resultToStatus(result);
+}
+
+grpc::Status setDeviceNotFound(api::CommandHeader_Feedback* response, const std::string& device_id)
+{
+    const std::string message = "RobotArm device not found: " + device_id;
+    fillFeedback(response, false, message);
+    return grpc::Status(grpc::StatusCode::NOT_FOUND, message);
+}
+
+template <typename Response>
+grpc::Status setDeviceNotFound(Response* response, const std::string& device_id)
+{
+    const std::string message = "RobotArm device not found: " + device_id;
+    fillFeedback(response->mutable_header(), false, message);
+    return grpc::Status(grpc::StatusCode::NOT_FOUND, message);
+}
+
+grpc::Status setStopAllRejected(
+    api::CommandHeader_Feedback* response,
+    const std::string& device_id)
+{
+    const std::string message =
+        "RobotArm control is temporarily paused by StopAll: " + device_id;
+    fillFeedback(response, false, message);
+    return grpc::Status(grpc::StatusCode::UNAVAILABLE, message);
+}
+
+template <typename Response>
+grpc::Status setStopAllRejected(
+    Response* response,
+    const std::string& device_id)
+{
+    return setStopAllRejected(response->mutable_header(), device_id);
+}
+
+grpc::Status setControlLeaseConflict(
+    api::CommandHeader_Feedback* response,
+    const std::string& device_id,
+    const std::string& detail)
+{
+    std::string message =
+        "RobotArm control is leased by another active control operation: " +
+        device_id;
+    if (!detail.empty()) {
+        CMVR_LOG(WARNING) << "[gRPCArmServiceImpl] control lease conflict, id="
+                          << device_id << ", detail=" << detail;
+    }
+    fillFeedback(response, false, message);
+    return grpc::Status(
+        grpc::StatusCode::FAILED_PRECONDITION, message);
+}
+
+template <typename Response>
+grpc::Status setControlLeaseConflict(
+    Response* response,
+    const std::string& device_id,
+    const std::string& detail)
+{
+    return setControlLeaseConflict(
+        response->mutable_header(), device_id, detail);
+}
+
+grpc::Status setControlCancelled(
+    api::CommandHeader_Feedback* response,
+    const std::string& device_id,
+    const std::string& reason)
+{
+    std::string message = "RobotArm control was cancelled: " + device_id;
+    if (!reason.empty()) {
+        message += ", " + reason;
+    }
+    fillFeedback(response, false, message);
+    return grpc::Status(grpc::StatusCode::CANCELLED, message);
+}
+
+class ScopedUnaryControlLease final {
+public:
+    ScopedUnaryControlLease(
+        const std::string& device_id,
+        const char* operation,
+        const bool preemptive = false)
+        : manager_(control::ControlAuthorityManager::instance())
+    {
+        static std::atomic<std::uint64_t> sequence{0};
+        const std::string owner =
+            std::string("grpc-arm-unary:") + operation + ":" +
+            std::to_string(
+                sequence.fetch_add(
+                    1U, std::memory_order_relaxed) +
+                1U);
+        const auto ttl = std::chrono::duration_cast<
+            control::ControlAuthorityManager::Duration>(
+                std::chrono::hours(24));
+        control::ControlAcquireResult acquired;
+        if (preemptive) {
+            acquired = manager_.preemptAcquire(device_id, owner, ttl);
+        } else {
+            auto admission =
+                globalStopAllAdmissionGate().lockAdmission();
+            if (!admission.accepting()) {
+                rejected_by_stop_all_ = true;
+                detail_ = "System StopAll admission is closed";
+                return;
+            }
+            admission_generation_ = admission.generation();
+            acquired = manager_.tryAcquire(device_id, owner, ttl);
+        }
+        acquired_ = acquired.acquired;
+        token_ = std::move(acquired.token);
+        detail_ = std::move(acquired.detail);
+        release_on_destroy_ = !preemptive;
+    }
+
+    ~ScopedUnaryControlLease()
+    {
+        if (release_on_destroy_) {
+            manager_.release(token_);
+        } else if (acquired_) {
+            (void)manager_.retireSafetyHolder(token_);
+        }
+    }
+
+    bool acquired() const noexcept { return acquired_; }
+    bool rejectedByStopAll() const noexcept
+    {
+        return rejected_by_stop_all_;
+    }
+    const std::string& detail() const noexcept { return detail_; }
+    void confirmSafeToRelease() noexcept { release_on_destroy_ = true; }
+
+    bool waitForPreemptedRelease(
+        const control::ControlAuthorityManager::Duration timeout)
+    {
+        return manager_.waitForPreemptedRelease(token_, timeout);
+    }
+
+    bool admissionCurrent() const
+    {
+        auto admission = globalStopAllAdmissionGate().lockAdmission();
+        return admission.accepting() &&
+               admission.generation() == admission_generation_;
+    }
+
+    bool current() const
+    {
+        return manager_.validate(token_) && admissionCurrent();
+    }
+
+    std::function<bool()> cancellationRequested(
+        grpc::ServerContext* context) const
+    {
+        const auto token = token_;
+        const auto admission_generation = admission_generation_;
+        return [context, token, admission_generation]() {
+            try {
+                if ((context && context->IsCancelled()) ||
+                       !control::ControlAuthorityManager::instance()
+                            .validate(token)) {
+                    return true;
+                }
+                auto admission =
+                    globalStopAllAdmissionGate().lockAdmission();
+                return !admission.accepting() ||
+                       admission.generation() != admission_generation;
+            } catch (...) {
+                return true;
+            }
+        };
+    }
+
+    control::ControlDispatchGuard tryBeginDispatch()
+    {
+        auto admission = globalStopAllAdmissionGate().lockAdmission();
+        if (!admission.accepting() ||
+            admission.generation() != admission_generation_) {
+            return {};
+        }
+        return manager_.tryBeginDispatch(token_);
+    }
+
+private:
+    control::ControlAuthorityManager& manager_;
+    control::ControlLeaseToken token_;
+    std::string detail_;
+    bool acquired_{false};
+    bool release_on_destroy_{true};
+    bool rejected_by_stop_all_{false};
+    std::uint64_t admission_generation_{0U};
+};
+
+template <typename Operation>
+device::Result executeConfirmedArmStop(
+    ScopedUnaryControlLease& control_barrier,
+    const char* operation_name,
+    Operation&& operation)
+{
+    const auto initial_stop = operation();
+    if (!initial_stop.ok()) {
+        return initial_stop;
+    }
+
+    constexpr auto handler_release_timeout = std::chrono::seconds(15);
+    if (!control_barrier.waitForPreemptedRelease(
+            std::chrono::duration_cast<
+                control::ControlAuthorityManager::Duration>(
+                    handler_release_timeout))) {
+        return device::Result::failure(
+            device::ArmErrorCode::Timeout,
+            std::string(operation_name) +
+                " timed out waiting for the preempted control handler to exit");
+    }
+
+    const auto final_stop = operation();
+    if (final_stop.ok()) {
+        control_barrier.confirmSafeToRelease();
+    }
+    return final_stop;
+}
+
+template <typename Response>
+grpc::Status setControlAdmissionFailure(
+    Response* response,
+    const std::string& device_id,
+    const ScopedUnaryControlLease& lease)
+{
+    return lease.rejectedByStopAll()
+        ? setStopAllRejected(response, device_id)
+        : setControlLeaseConflict(response, device_id, lease.detail());
+}
+
+template <typename Response>
+grpc::Status setControlDispatchFailure(
+    Response* response,
+    const std::string& device_id,
+    const ScopedUnaryControlLease& lease,
+    const char* operation)
+{
+    if (!lease.admissionCurrent()) {
+        return setStopAllRejected(response, device_id);
+    }
+    return setControlLeaseConflict(
+        response,
+        device_id,
+        std::string("control lease was preempted before ") + operation +
+            " dispatch");
+}
+
+grpc::Status setAlreadyEnabled(
+    api::CommandHeader_Feedback* response,
+    const std::string& device_id,
+    const char* rpc_name)
+{
+    constexpr const char* kAlreadyEnabledMessage =
+        "RobotArm is already enabled";
+    CMVR_LOG(WARNING) << "[gRPCArmServiceImpl] (" << rpc_name
+                      << "): ignored because the device is already enabled, id="
+                      << device_id;
+    fillFeedback(response, true, kAlreadyEnabledMessage);
+    return grpc::Status::OK;
+}
+
+} // namespace
+
+gRPCArmServiceImpl::gRPCArmServiceImpl()
+    : gRPCArmServiceImpl(makeDefaultGrpcSecurityGateway())
+{
+}
+
+gRPCArmServiceImpl::gRPCArmServiceImpl(
+    std::shared_ptr<GrpcSecurityGateway> security_gateway)
+    : dmgr_(device::DeviceManager::getInstance()),
+      security_gateway_(security_gateway
+                            ? std::move(security_gateway)
+                            : makeDefaultGrpcSecurityGateway())
+{
+}
+
+grpc::Status gRPCArmServiceImpl::torqueOff(grpc::ServerContext* context,
+                                           const api::CommandHeader_Request* request,
+                                           api::CommandHeader_Feedback* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/torqueOff", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_barrier(
+            device_id, "torqueOff", true);
+        if (!control_barrier.acquired()) {
+            return setControlLeaseConflict(
+                response, device_id, control_barrier.detail());
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = executeConfirmedArmStop(
+            control_barrier,
+            "torqueOff",
+            [&arm]() { return arm->torqueOff(); });
+        fillFeedback(response, result.ok(), result.ok() ? "" : result.message);
+        if (result.ok()) {
+            logRpcSuccess("torqueOff", device_id);
+        }
+        return resultToStatus(result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::torqueOn(grpc::ServerContext* context,
+                                          const api::CommandHeader_Request* request,
+                                          api::CommandHeader_Feedback* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/torqueOn", request, response,
+        [this, context, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        const auto state = arm->getRobotState();
+        if (state.powered_on) {
+            return setAlreadyEnabled(response, device_id, "torqueOn");
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "torqueOn");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "torqueOn");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto cancellation_requested =
+            control_lease.cancellationRequested(context);
+        const auto result = arm->torqueOn(cancellation_requested);
+        const bool control_current = control_lease.current();
+        const bool cancellation_result =
+            result.ok() ||
+            result.code == device::ArmErrorCode::CommandRejected;
+        if (cancellation_result &&
+            !control_lease.admissionCurrent()) {
+            return setStopAllRejected(response, device_id);
+        }
+        const bool rpc_cancelled = context && context->IsCancelled();
+        if (cancellation_result &&
+            (rpc_cancelled || !control_current)) {
+            return setControlCancelled(
+                response,
+                device_id,
+                rpc_cancelled
+                    ? "the RPC was cancelled"
+                    : "control ownership was revoked");
+        }
+        fillFeedback(response, result.ok(), result.ok() ? "" : result.message);
+        if (result.ok()) {
+            logRpcSuccess("torqueOn", device_id);
+        }
+        return resultToStatus(result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::moveJ(grpc::ServerContext* context,
+                                       const api::MoveJ_Request* request,
+                                       api::MoveJ_Response* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/moveJ", request, response,
+        [this, context, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "moveJ");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "moveJ");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        auto options = toMotionOptions(
+            request->options(),
+            control_lease.cancellationRequested(context));
+        const auto result = arm->moveJ(
+            toJointPositionCommand(request->target()), options);
+        if (result.ok()) {
+            CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (moveJ): success, id=" << device_id
+                            << ", positions=" << request->target().position_size();
+        }
+        return setResponseResult(response, result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::moveL(grpc::ServerContext* context,
+                                       const api::MoveL_Request* request,
+                                       api::MoveL_Response* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/moveL", request, response,
+        [this, context, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "moveL");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "moveL");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        auto options = toMotionOptions(
+            request->options(),
+            control_lease.cancellationRequested(context));
+        const auto result = arm->moveL(
+            toCartesianPose(request->target()),
+            options,
+            toFrameType(request->frame()));
+        if (result.ok()) {
+            CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (moveL): success, id=" << device_id
+                            << ", frame=" << request->frame();
+        }
+        return setResponseResult(response, result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::speedJ(grpc::ServerContext* context,
+                                        const api::SpeedJ_Request* request,
+                                        api::SpeedJ_Response* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/speedJ", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "speedJ");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "speedJ");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = arm->speedJ(toJointVelocityCommand(request->velocity()),
+                                        request->acceleration(),
+                                        request->duration());
+        if (result.ok()) {
+            CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (speedJ): success, id=" << device_id
+                            << ", velocities=" << request->velocity().velocity_size()
+                            << ", acceleration=" << request->acceleration()
+                            << ", duration=" << request->duration();
+        }
+        return setResponseResult(response, result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::speedL(grpc::ServerContext* context,
+                                        const api::SpeedL_Request* request,
+                                        api::SpeedL_Response* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/speedL", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "speedL");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "speedL");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = arm->speedL(toCartesianVelocity(request->velocity()),
+                                        request->acceleration(),
+                                        request->duration(),
+                                        toFrameType(request->frame()));
+        if (result.ok()) {
+            CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (speedL): success, id=" << device_id
+                            << ", acceleration=" << request->acceleration()
+                            << ", duration=" << request->duration()
+                            << ", frame=" << request->frame();
+        }
+        return setResponseResult(response, result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::servoJ(grpc::ServerContext* context,
+                                        const api::ServoJ_Request* request,
+                                        api::ServoJ_Response* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/servoJ", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "servoJ");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "servoJ");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = arm->servoJ(toJointPositionCommand(request->target()));
+        if (result.ok()) {
+            CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (servoJ): success, id=" << device_id
+                            << ", positions=" << request->target().position_size();
+        }
+        return setResponseResult(response, result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::stopMotion(grpc::ServerContext* context,
+                                            const api::CommandHeader_Request* request,
+                                            api::CommandHeader_Feedback* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/stopMotion", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_barrier(
+            device_id, "stopMotion", true);
+        if (!control_barrier.acquired()) {
+            return setControlLeaseConflict(
+                response, device_id, control_barrier.detail());
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = executeConfirmedArmStop(
+            control_barrier,
+            "stopMotion",
+            [&arm]() { return arm->stopMotion(); });
+        fillFeedback(response, result.ok(), result.ok() ? "" : result.message);
+        if (result.ok()) {
+            logRpcSuccess("stopMotion", device_id);
+        }
+        return resultToStatus(result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::getJointState(grpc::ServerContext* context,
+                                               const api::JointRequest* request,
+                                               api::JointResponse* response)
+{
+    CMVR_GRPC_REQUIRE_REGISTERED_CALL(
+        security_gateway_, context, "/cmvr.api.ArmService/getJointState");
+    try {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        const auto model = arm->getRobotModel();
+        const auto state = arm->getJointState();
+        auto* msg = response->mutable_state();
+        for (const auto& name : model.joint_names) {
+            msg->add_name(name);
+        }
+        for (double v : state.position) msg->add_position(v);
+        for (double v : state.velocity) msg->add_velocity(v);
+        for (double v : state.effort) msg->add_effort(v);
+        fillFeedback(response->mutable_header(), true);
+        // CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (getJointState): success, id=" << device_id
+        //                 << ", joints=" << msg->name_size()
+        //                 << ", positions=" << msg->position_size();
+        return grpc::Status::OK;
+    } catch (const std::exception& e) {
+        fillFeedback(response->mutable_header(), false, e.what());
+        return grpc::Status(grpc::StatusCode::INTERNAL, e.what());
+    }
+}
+
+grpc::Status gRPCArmServiceImpl::getPose(grpc::ServerContext* context,
+                                         const api::GetPose_Request* request,
+                                         api::GetPose_Response* response)
+{
+    CMVR_GRPC_REQUIRE_REGISTERED_CALL(
+        security_gateway_, context, "/cmvr.api.ArmService/getPose");
+    try {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        const auto pose = request->base_link().empty() || request->ee_link().empty()
+            ? arm->fk(true)
+            : arm->fk(request->base_link(), request->ee_link());
+        *response->mutable_pose() = toApiCartesianPose(pose);
+        fillFeedback(response->mutable_header(), true);
+        CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (getPose): success, id=" << device_id
+                        << ", pose=(" << pose.x << ", " << pose.y << ", " << pose.z
+                        << ", " << pose.rx << ", " << pose.ry << ", " << pose.rz << ")";
+        return grpc::Status::OK;
+    } catch (const std::exception& e) {
+        fillFeedback(response->mutable_header(), false, e.what());
+        return grpc::Status(grpc::StatusCode::INTERNAL, e.what());
+    }
+}
+
+grpc::Status gRPCArmServiceImpl::calibrateZeroQ(grpc::ServerContext* context,
+                                                const api::CalibrateZeroQ_Request* request,
+                                                api::CalibrateZeroQ_Response* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/calibrateZeroQ", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "calibrateZeroQ");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "calibrateZeroQ");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = arm->calibrateZeroQ(request->joint_name());
+        if (result.ok()) {
+            CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (calibrateZeroQ): success, id=" << device_id
+                            << ", joint=" << request->joint_name();
+        }
+        return setResponseResult(response, result);
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::getPoseMatrix(grpc::ServerContext* context,
+                                               const api::GetPoseMatrix_Request*,
+                                               api::GetPoseMatrix_Response* response)
+{
+    CMVR_GRPC_REQUIRE_REGISTERED_CALL(
+        security_gateway_, context, "/cmvr.api.ArmService/getPoseMatrix");
+    fillFeedback(response->mutable_header(), false, "getPoseMatrix is not implemented");
+    return grpc::Status(grpc::StatusCode::UNIMPLEMENTED, "getPoseMatrix is not implemented");
+}
+
+grpc::Status gRPCArmServiceImpl::computeForwardKinematics(grpc::ServerContext* context,
+                                                          const api::ComputeForwardKinematics_Request*,
+                                                          api::ComputeForwardKinematics_Response* response)
+{
+    CMVR_GRPC_REQUIRE_REGISTERED_CALL(
+        security_gateway_, context,
+        "/cmvr.api.ArmService/computeForwardKinematics");
+    fillFeedback(response->mutable_header(), false, "computeForwardKinematics is not implemented");
+    return grpc::Status(grpc::StatusCode::UNIMPLEMENTED, "computeForwardKinematics is not implemented");
+}
+
+grpc::Status gRPCArmServiceImpl::ExecuteJsonCommand(
+    grpc::ServerContext* context,
+    const api::JsonDeviceCommand_Request* request,
+    api::JsonDeviceCommand_Feedback* response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/ExecuteJsonCommand", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->header().device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            fillFeedback(
+                response->mutable_header(),
+                false,
+                "Device not found: " + device_id);
+            return grpc::Status::OK;
+        }
+
+        ScopedUnaryControlLease control_lease(
+            device_id, "ExecuteJsonCommand");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease,
+                "ExecuteJsonCommand");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+
+        std::string response_json;
+        const bool success = arm->executeJsonCommand(
+            request->request_json(), response_json);
+        fillFeedback(
+            response->mutable_header(),
+            success,
+            success ? "" : response_json);
+        response->set_response_json(response_json);
+        if (success) {
+            logRpcSuccess("ExecuteJsonCommand", device_id);
+        }
+        return grpc::Status::OK;
+        });
+}
+
+grpc::Status gRPCArmServiceImpl::clearFault(grpc::ServerContext *context,
+                                            const cmvr::api::CommandHeader_Request *request,
+                                            cmvr::api::CommandHeader_Feedback *response)
+{
+    return executeRegisteredGrpcCommand(
+        security_gateway_, context, dmgr_.safetyManager(),
+        "/cmvr.api.ArmService/clearFault", request, response,
+        [this, request, response](GrpcCommandTransaction& command) {
+        const std::string device_id = request->device_id();
+        auto arm = dmgr_.getDevice<device::RobotArm>(device_id);
+        if (!arm) {
+            return setDeviceNotFound(response, device_id);
+        }
+        ScopedUnaryControlLease control_lease(
+            device_id, "clearFault");
+        if (!control_lease.acquired()) {
+            return setControlAdmissionFailure(
+                response, device_id, control_lease);
+        }
+        auto dispatch = control_lease.tryBeginDispatch();
+        if (!dispatch.acquired()) {
+            return setControlDispatchFailure(
+                response, device_id, control_lease, "clearFault");
+        }
+        if (!command.beginDispatch()) {
+            return command.dispatchStatus();
+        }
+        const auto result = arm->clearFault();
+        fillFeedback(response, result.ok(), result.ok() ? "" : result.message);
+        return resultToStatus(result);
+        });
+}
+} // namespace cmvr::service

cmvr-es/service/grpc/server/src/grpc_security.cpp

@@ -0,0 +1,691 @@
+#include "service/grpc/server/include/grpc_security.h"
+
+#include <algorithm>
+#include <atomic>
+#include <cctype>
+#include <cstdint>
+#include <iomanip>
+#include <initializer_list>
+#include <iterator>
+#include <limits>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+
+namespace cmvr::service {
+
+namespace {
+
+constexpr std::size_t kMaxCorrelationIdLength = 64;
+std::atomic<std::uint64_t> next_correlation_id{1};
+
+bool isSafeCorrelationId(const std::string& value)
+{
+    if (value.empty() || value.size() > kMaxCorrelationIdLength) {
+        return false;
+    }
+    return std::all_of(
+        value.begin(), value.end(), [](const unsigned char character) {
+            return std::isalnum(character) || character == '-' ||
+                   character == '_' || character == '.' || character == ':';
+        });
+}
+
+std::string makeCorrelationId()
+{
+    const auto sequence =
+        next_correlation_id.fetch_add(1, std::memory_order_relaxed);
+    const auto now = std::chrono::duration_cast<std::chrono::microseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count();
+    std::ostringstream output;
+    output << "grpc-" << std::hex << now << '-' << sequence;
+    return output.str();
+}
+
+std::string correlationIdFrom(
+    const std::multimap<std::string, std::string>& metadata)
+{
+    const auto range = metadata.equal_range("x-correlation-id");
+    if (range.first != range.second &&
+        std::next(range.first) == range.second &&
+        isSafeCorrelationId(range.first->second)) {
+        return range.first->second;
+    }
+    return makeCorrelationId();
+}
+
+bool roleAllows(const GrpcPrincipal& principal, const GrpcRole required)
+{
+    const auto rank = [](const GrpcRole role) {
+        switch (role) {
+        case GrpcRole::Anonymous: return 0;
+        case GrpcRole::Observer: return 1;
+        case GrpcRole::Operator: return 2;
+        case GrpcRole::SafetyAdmin: return 3;
+        }
+        return -1;
+    };
+    return std::any_of(
+        principal.roles.begin(), principal.roles.end(),
+        [&](const GrpcRole role) { return rank(role) >= rank(required); });
+}
+
+GrpcCallFacts factsFrom(
+    grpc::ServerContext* context,
+    const GrpcMethodPolicy& method,
+    const bool encrypted)
+{
+    GrpcCallFacts facts;
+    facts.full_method_name = method.full_method_name;
+    facts.transport_encrypted = encrypted;
+    facts.received_at = std::chrono::steady_clock::now();
+    facts.deadline = std::chrono::steady_clock::time_point::max();
+
+    if (context) {
+        facts.peer = context->peer();
+        for (const auto& [key, value] : context->client_metadata()) {
+            facts.metadata.emplace(
+                std::string(key.data(), key.size()),
+                std::string(value.data(), value.size()));
+        }
+
+        const auto deadline = context->deadline();
+        if (deadline != std::chrono::system_clock::time_point::max()) {
+            const auto remaining = deadline - std::chrono::system_clock::now();
+            facts.deadline = remaining <= decltype(remaining)::zero()
+                                 ? facts.received_at
+                                 : facts.received_at +
+                                       std::chrono::duration_cast<
+                                           std::chrono::steady_clock::duration>(
+                                           remaining);
+        }
+    }
+
+    facts.local_peer = isLocalGrpcPeer(facts.peer);
+    facts.correlation_id = correlationIdFrom(facts.metadata);
+    return facts;
+}
+
+} // namespace
+
+bool isLoopbackGrpcHost(const std::string& host) noexcept
+{
+    return host == "127.0.0.1" || host == "localhost" || host == "::1" ||
+           host == "[::1]" || host.rfind("unix:", 0) == 0;
+}
+
+bool isLocalGrpcPeer(const std::string& peer) noexcept
+{
+    return peer.rfind("unix:", 0) == 0 ||
+           peer.rfind("ipv4:127.", 0) == 0 ||
+           peer == "ipv6:[::1]" || peer == "ipv6:::1";
+}
+
+const char* toString(const GrpcTransportSecurity value) noexcept
+{
+    switch (value) {
+    case GrpcTransportSecurity::Insecure: return "insecure";
+    case GrpcTransportSecurity::ServerTls: return "server_tls";
+    case GrpcTransportSecurity::MutualTls: return "mutual_tls";
+    }
+    return "unknown";
+}
+
+const char* toString(const GrpcAuthenticationMethod value) noexcept
+{
+    switch (value) {
+    case GrpcAuthenticationMethod::Disabled: return "disabled";
+    case GrpcAuthenticationMethod::StaticToken: return "static_token";
+    case GrpcAuthenticationMethod::Jwt: return "jwt";
+    case GrpcAuthenticationMethod::TlsClientCertificate:
+        return "tls_client_certificate";
+    }
+    return "unknown";
+}
+
+const char* toString(const GrpcRecoveryExposure value) noexcept
+{
+    switch (value) {
+    case GrpcRecoveryExposure::Disabled: return "disabled";
+    case GrpcRecoveryExposure::LocalOnly: return "local_only";
+    case GrpcRecoveryExposure::Authorized: return "authorized";
+    }
+    return "unknown";
+}
+
+const char* toString(const GrpcRole value) noexcept
+{
+    switch (value) {
+    case GrpcRole::Anonymous: return "anonymous";
+    case GrpcRole::Observer: return "observer";
+    case GrpcRole::Operator: return "operator";
+    case GrpcRole::SafetyAdmin: return "safety_admin";
+    }
+    return "unknown";
+}
+
+GrpcSecurityConfigResult resolveGrpcSecurityConfig(
+    const config::GRPCServerConfig& server_config,
+    const std::string& effective_host)
+{
+    GrpcSecurityConfigResult result;
+    const bool loopback = isLoopbackGrpcHost(effective_host);
+
+    if (!server_config.has_security()) {
+        result.valid = true;
+        result.config.transport = GrpcTransportSecurity::Insecure;
+        result.config.authentication = GrpcAuthenticationMethod::Disabled;
+        result.config.recovery_exposure = GrpcRecoveryExposure::Disabled;
+        result.config.allow_insecure_non_loopback = !loopback;
+        result.config.insecure_non_loopback = !loopback;
+        result.config.legacy_compatibility = true;
+        result.warnings.emplace_back(
+            "missing grpc security config: using one-release legacy "
+            "INSECURE/DISABLED compatibility with recovery disabled");
+        return result;
+    }
+
+    const auto& security = server_config.security();
+    if (security.transport_mode() != config::GRPCSecurityConfig::INSECURE) {
+        result.error =
+            "only INSECURE gRPC transport is compiled in this release";
+        return result;
+    }
+    result.config.transport = GrpcTransportSecurity::Insecure;
+
+    if (security.authentication_mode() !=
+        config::GRPCSecurityConfig::DISABLED) {
+        result.error =
+            "only DISABLED gRPC authentication is compiled in this release";
+        return result;
+    }
+    result.config.authentication = GrpcAuthenticationMethod::Disabled;
+
+    switch (security.recovery_exposure()) {
+    case config::GRPCSecurityConfig::RECOVERY_DISABLED:
+        result.config.recovery_exposure = GrpcRecoveryExposure::Disabled;
+        break;
+    case config::GRPCSecurityConfig::RECOVERY_LOCAL_ONLY:
+        result.config.recovery_exposure = GrpcRecoveryExposure::LocalOnly;
+        break;
+    case config::GRPCSecurityConfig::RECOVERY_AUTHORIZED:
+        result.error =
+            "RECOVERY_AUTHORIZED requires an implemented authentication "
+            "provider";
+        return result;
+    case config::GRPCSecurityConfig::RECOVERY_EXPOSURE_UNSPECIFIED:
+    default:
+        result.error = "grpc recovery exposure must be explicit";
+        return result;
+    }
+    result.config.recovery_audit_file = security.audit_file();
+    if (result.config.recovery_exposure !=
+            GrpcRecoveryExposure::Disabled &&
+        result.config.recovery_audit_file.empty()) {
+        result.error =
+            "an enabled recovery RPC requires a persistent audit_file";
+        return result;
+    }
+
+    result.config.allow_insecure_non_loopback =
+        security.allow_insecure_non_loopback();
+    result.config.insecure_non_loopback = !loopback;
+    if (!loopback && !security.allow_insecure_non_loopback()) {
+        result.error =
+            "INSECURE/DISABLED gRPC on a non-loopback host requires "
+            "allow_insecure_non_loopback=true";
+        return result;
+    }
+    if (!loopback) {
+        result.warnings.emplace_back(
+            "gRPC is listening without transport encryption or client "
+            "authentication on a non-loopback host");
+    }
+
+    result.valid = true;
+    return result;
+}
+
+GrpcAuthenticationResult DisabledGrpcAuthenticationProvider::authenticate(
+    const GrpcCallFacts&) const
+{
+    GrpcAuthenticationResult result;
+    result.principal.id = "anonymous";
+    result.principal.method = GrpcAuthenticationMethod::Disabled;
+    result.principal.authenticated = false;
+    result.principal.roles = {GrpcRole::Anonymous};
+    result.status = grpc::Status::OK;
+    return result;
+}
+
+CompatibilityGrpcAuthorizationPolicy::CompatibilityGrpcAuthorizationPolicy(
+    const GrpcRecoveryExposure recovery_exposure)
+    : recovery_exposure_(recovery_exposure)
+{
+}
+
+GrpcAuthorizationDecision CompatibilityGrpcAuthorizationPolicy::authorize(
+    const GrpcRequestContext& context,
+    const GrpcMethodPolicy& method) const
+{
+    if (method.access == GrpcAccessClass::Recover) {
+        switch (recovery_exposure_) {
+        case GrpcRecoveryExposure::Disabled:
+            return {
+                false,
+                grpc::Status(
+                    grpc::StatusCode::FAILED_PRECONDITION,
+                    "RECOVERY_RPC_DISABLED")};
+        case GrpcRecoveryExposure::LocalOnly:
+            if (!context.local_peer) {
+                return {
+                    false,
+                    grpc::Status(
+                        grpc::StatusCode::PERMISSION_DENIED,
+                        "RecoverSafetyState is restricted to a local peer")};
+            }
+            return {true, grpc::Status::OK};
+        case GrpcRecoveryExposure::Authorized:
+            if (!context.principal.authenticated ||
+                !roleAllows(context.principal, GrpcRole::SafetyAdmin)) {
+                return {
+                    false,
+                    grpc::Status(
+                        context.principal.authenticated
+                            ? grpc::StatusCode::PERMISSION_DENIED
+                            : grpc::StatusCode::UNAUTHENTICATED,
+                        "RecoverSafetyState requires SafetyAdmin")};
+            }
+            return {true, grpc::Status::OK};
+        }
+    }
+
+    if (!context.principal.authenticated &&
+        context.principal.method == GrpcAuthenticationMethod::Disabled) {
+        return {true, grpc::Status::OK};
+    }
+    if (!context.principal.authenticated) {
+        return {
+            false,
+            grpc::Status(
+                grpc::StatusCode::UNAUTHENTICATED,
+                "gRPC caller authentication failed")};
+    }
+    if (!roleAllows(context.principal, method.minimum_role)) {
+        return {
+            false,
+            grpc::Status(
+                grpc::StatusCode::PERMISSION_DENIED,
+                "gRPC caller does not have the required role")};
+    }
+    return {true, grpc::Status::OK};
+}
+
+bool GrpcMethodPolicyRegistry::registerPolicy(GrpcMethodPolicy policy)
+{
+    if (policy.full_method_name.empty()) {
+        return false;
+    }
+    return policies_.emplace(policy.full_method_name, std::move(policy)).second;
+}
+
+std::optional<GrpcMethodPolicy> GrpcMethodPolicyRegistry::find(
+    const std::string& full_method_name) const
+{
+    const auto found = policies_.find(full_method_name);
+    if (found == policies_.end()) {
+        return std::nullopt;
+    }
+    return found->second;
+}
+
+std::vector<GrpcMethodPolicy> GrpcMethodPolicyRegistry::snapshot() const
+{
+    std::vector<GrpcMethodPolicy> result;
+    result.reserve(policies_.size());
+    for (const auto& [name, policy] : policies_) {
+        (void)name;
+        result.push_back(policy);
+    }
+    std::sort(
+        result.begin(), result.end(),
+        [](const auto& lhs, const auto& rhs) {
+            return lhs.full_method_name < rhs.full_method_name;
+        });
+    return result;
+}
+
+const GrpcMethodPolicyRegistry& defaultGrpcMethodPolicyRegistry()
+{
+    static const GrpcMethodPolicyRegistry registry = [] {
+        GrpcMethodPolicyRegistry result;
+        const auto add = [&result](
+            const char* service,
+            const char* method,
+            const GrpcAccessClass access,
+            const safety::CommandIntent intent,
+            const safety::SafetyPolicyFamily family,
+            const bool mutating,
+            const bool safety_lane = false) {
+            GrpcRole role = GrpcRole::Observer;
+            if (access == GrpcAccessClass::Mutate ||
+                access == GrpcAccessClass::Stop) {
+                role = GrpcRole::Operator;
+            } else if (access == GrpcAccessClass::Recover) {
+                role = GrpcRole::SafetyAdmin;
+            }
+            GrpcMethodPolicy policy;
+            policy.full_method_name =
+                std::string("/cmvr.api.") + service + '/' + method;
+            policy.access = access;
+            policy.minimum_role = role;
+            policy.command_intent = intent;
+            policy.policy_family = family;
+            policy.mutating = mutating;
+            policy.safety_lane = safety_lane;
+            if (!result.registerPolicy(std::move(policy))) {
+                throw std::logic_error(
+                    std::string("duplicate gRPC method policy: ") +
+                    service + '/' + method);
+            }
+        };
+        const auto add_many = [&add](
+            const char* service,
+            const std::initializer_list<const char*> methods,
+            const GrpcAccessClass access,
+            const safety::CommandIntent intent,
+            const safety::SafetyPolicyFamily family,
+            const bool mutating,
+            const bool safety_lane = false) {
+            for (const auto* method : methods) {
+                add(service, method, access, intent, family, mutating,
+                    safety_lane);
+            }
+        };
+
+        using safety::CommandIntent;
+        using safety::SafetyPolicyFamily;
+        add_many("SystemService",
+                 {"GetSystemInfo", "GetSystemStatus", "GetDeviceList",
+                  "GetSafetyState"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Sensor, false);
+        add("SystemService", "UpdateParams", GrpcAccessClass::Mutate,
+            CommandIntent::Configure, SafetyPolicyFamily::Sensor, true);
+        add("SystemService", "StopAll", GrpcAccessClass::Stop,
+            CommandIntent::Stop, SafetyPolicyFamily::Control, true, true);
+        add("SystemService", "ExecuteActionQueue", GrpcAccessClass::Mutate,
+            CommandIntent::Actuate, SafetyPolicyFamily::Control, true);
+        add("SystemService", "RecoverSafetyState", GrpcAccessClass::Recover,
+            CommandIntent::RecoverAdmission, SafetyPolicyFamily::Control,
+            true, true);
+        add("SystemService", "RestoreOperationalState",
+            GrpcAccessClass::Recover, CommandIntent::RecoverAdmission,
+            SafetyPolicyFamily::Control, true, true);
+
+        add_many("ArmService",
+                 {"getJointState", "getPose", "getPoseMatrix",
+                  "computeForwardKinematics"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Control, false);
+        add_many("ArmService", {"torqueOff", "stopMotion"},
+                 GrpcAccessClass::Stop, CommandIntent::Stop,
+                 SafetyPolicyFamily::Control, true, true);
+        add("ArmService", "clearFault", GrpcAccessClass::Mutate,
+            CommandIntent::ResetFault, SafetyPolicyFamily::Control, true);
+        add("ArmService", "torqueOn", GrpcAccessClass::Mutate,
+            CommandIntent::StartActivity, SafetyPolicyFamily::Control, true);
+        add_many("ArmService",
+                 {"moveJ", "moveL", "speedJ", "speedL", "servoJ"},
+                 GrpcAccessClass::Mutate, CommandIntent::Actuate,
+                 SafetyPolicyFamily::Control, true);
+        add_many("ArmService", {"calibrateZeroQ", "ExecuteJsonCommand"},
+                 GrpcAccessClass::Mutate, CommandIntent::Configure,
+                 SafetyPolicyFamily::Control, true);
+        add("armteleop.v1.ArmTeleopService", "Teleoperate",
+            GrpcAccessClass::Mutate,
+            CommandIntent::Actuate, SafetyPolicyFamily::Control, true);
+
+        add_many("AgvService",
+                 {"getRuntimeState", "getNavigationStatus", "listMaps",
+                  "listStations", "downloadMap", "streamMap"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Control, false);
+        add_many("AgvService",
+                 {"emergencyStop", "pauseNavigation", "cancelNavigation",
+                  "stopVelocityControl", "stopMapping"},
+                 GrpcAccessClass::Stop, CommandIntent::Stop,
+                 SafetyPolicyFamily::Control, true, true);
+        add("AgvService", "clearFault", GrpcAccessClass::Mutate,
+            CommandIntent::ResetFault, SafetyPolicyFamily::Control, true);
+        add("AgvService", "resumeNavigation", GrpcAccessClass::Mutate,
+            CommandIntent::StartActivity, SafetyPolicyFamily::Control, true);
+        add_many("AgvService",
+                 {"navigateToPose", "navigateToStation", "followPath",
+                  "setVelocity", "translate"},
+                 GrpcAccessClass::Mutate, CommandIntent::Actuate,
+                 SafetyPolicyFamily::Control, true);
+        add_many("AgvService",
+             {"switchMap", "uploadMap", "startMapping", "relocalize"},
+             GrpcAccessClass::Mutate, CommandIntent::Configure,
+             SafetyPolicyFamily::Control, true);
+
+        add("MotorService", "getStatus", GrpcAccessClass::Read,
+            CommandIntent::Observe, SafetyPolicyFamily::Control, false);
+        add("MotorService", "emergencyStop", GrpcAccessClass::Stop,
+            CommandIntent::Stop, SafetyPolicyFamily::Control, true, true);
+        add_many("MotorService",
+                 {"moveToZero", "profilePosition", "profileVelocity",
+                  "streamCyclicPosition", "streamCyclicVelocity"},
+                 GrpcAccessClass::Mutate, CommandIntent::Actuate,
+                 SafetyPolicyFamily::Control, true);
+        add_many("MotorService", {"setZero", "setEnabled"},
+                 GrpcAccessClass::Mutate, CommandIntent::Configure,
+                 SafetyPolicyFamily::Control, true);
+
+        add_many("DexHandService",
+                 {"GetStatus", "GetSensorData", "GetSensorDataStream"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Control, false);
+        add_many("DexHandService",
+                 {"SetDexHandPos", "SetDexHandAngle", "SetDexHandForce",
+                  "SetDexHandSpeed", "SetDexHandPresetAct"},
+                 GrpcAccessClass::Mutate, CommandIntent::Actuate,
+                 SafetyPolicyFamily::Control, true);
+
+        add_many("CameraService",
+                 {"GetStatus", "GetRGBImage", "GetDepthImage",
+                  "GetRGBDImages", "GetRGBImageStream",
+                  "GetDepthImageStream", "GetRGBDImagesStream"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Sensor, false);
+        add_many("CameraService", {"StartCamera", "StartRecording"},
+                 GrpcAccessClass::Mutate, CommandIntent::StartActivity,
+                 SafetyPolicyFamily::Sensor, true);
+        add_many("CameraService", {"StopCamera", "StopRecording"},
+                 GrpcAccessClass::Stop, CommandIntent::Stop,
+                 SafetyPolicyFamily::Sensor, true, true);
+        add("CameraService", "ControlPtz", GrpcAccessClass::Mutate,
+            CommandIntent::Actuate, SafetyPolicyFamily::Control, true);
+
+        add_many("MicPhoneService", {"GetStatus", "StreamAudio", "GetVolume"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Sensor, false);
+        add_many("MicPhoneService", {"StartRecord", "ResumeRecord"},
+                 GrpcAccessClass::Mutate, CommandIntent::StartActivity,
+                 SafetyPolicyFamily::Sensor, true);
+        add_many("MicPhoneService", {"StopRecord", "PauseRecord"},
+                 GrpcAccessClass::Stop, CommandIntent::Stop,
+                 SafetyPolicyFamily::Sensor, true, true);
+        add("MicPhoneService", "SetVolume", GrpcAccessClass::Mutate,
+            CommandIntent::Configure, SafetyPolicyFamily::Sensor, true);
+
+        add_many("SpeakerService", {"GetStatus", "GetVolume"},
+                 GrpcAccessClass::Read, CommandIntent::Observe,
+                 SafetyPolicyFamily::Sensor, false);
+        add_many("SpeakerService",
+                 {"PlayAudio", "StreamAudio", "ResumePlayback"},
+                 GrpcAccessClass::Mutate, CommandIntent::StartActivity,
+                 SafetyPolicyFamily::Sensor, true);
+        add_many("SpeakerService", {"StopPlayback", "PausePlayback"},
+                 GrpcAccessClass::Stop, CommandIntent::Stop,
+                 SafetyPolicyFamily::Sensor, true, true);
+        add("SpeakerService", "SetVolume", GrpcAccessClass::Mutate,
+            CommandIntent::Configure, SafetyPolicyFamily::Sensor, true);
+
+        add("BioHeadService", "GetSystemStatus", GrpcAccessClass::Read,
+            CommandIntent::Observe, SafetyPolicyFamily::Control, false);
+        add_many("BioHeadService", {"EmergencyStop", "SpeakStop"},
+                 GrpcAccessClass::Stop, CommandIntent::Stop,
+                 SafetyPolicyFamily::Control, true, true);
+        add_many("BioHeadService",
+                 {"SetExpression", "StreamExpression", "SpeakStart",
+                  "Happy", "Surprise", "ExpressionTired",
+                  "ExpressionAngry", "ExpressionSadness",
+                  "ExpressionYawn"},
+                 GrpcAccessClass::Mutate, CommandIntent::Actuate,
+                 SafetyPolicyFamily::Control, true);
+
+        add("HlcService", "touch", GrpcAccessClass::Mutate,
+            CommandIntent::Actuate, SafetyPolicyFamily::Control, true);
+        add("TestService", "Call", GrpcAccessClass::Read,
+            CommandIntent::Observe, SafetyPolicyFamily::Sensor, false);
+        return result;
+    }();
+    return registry;
+}
+
+GrpcCallGuard::GrpcCallGuard(
+    GrpcRequestContext context,
+    GrpcAuthorizationDecision decision)
+    : context_(std::move(context)), decision_(std::move(decision))
+{
+}
+
+GrpcSecurityGateway::GrpcSecurityGateway(
+    GrpcSecurityRuntimeConfig config,
+    std::shared_ptr<const GrpcAuthenticationProvider> authentication,
+    std::shared_ptr<const GrpcAuthorizationPolicy> authorization,
+    GrpcSecurityAuditSink audit_sink)
+    : config_(std::move(config)),
+      authentication_(std::move(authentication)),
+      authorization_(std::move(authorization)),
+      audit_sink_(std::move(audit_sink))
+{
+}
+
+GrpcCallGuard GrpcSecurityGateway::beginCall(
+    grpc::ServerContext* server_context,
+    const GrpcMethodPolicy& method) const
+{
+    return beginCall(
+        factsFrom(
+            server_context, method,
+            config_.transport != GrpcTransportSecurity::Insecure),
+        method);
+}
+
+GrpcCallGuard GrpcSecurityGateway::beginCall(
+    GrpcCallFacts facts,
+    const GrpcMethodPolicy& method) const
+{
+    if (facts.full_method_name.empty()) {
+        facts.full_method_name = method.full_method_name;
+    }
+    if (facts.received_at == std::chrono::steady_clock::time_point{}) {
+        facts.received_at = std::chrono::steady_clock::now();
+    }
+    if (facts.deadline == std::chrono::steady_clock::time_point{}) {
+        facts.deadline = std::chrono::steady_clock::time_point::max();
+    }
+    if (facts.correlation_id.empty()) {
+        facts.correlation_id = correlationIdFrom(facts.metadata);
+    }
+    if (!facts.local_peer) {
+        facts.local_peer = isLocalGrpcPeer(facts.peer);
+    }
+
+    const auto authentication = authentication_->authenticate(facts);
+    GrpcRequestContext context{
+        facts.correlation_id,
+        facts.full_method_name,
+        facts.peer,
+        authentication.principal,
+        facts.transport_encrypted,
+        facts.local_peer,
+        facts.received_at,
+        facts.deadline};
+
+    GrpcAuthorizationDecision decision;
+    if (!authentication.ok()) {
+        decision = {false, authentication.status};
+    } else {
+        decision = authorization_->authorize(context, method);
+    }
+
+    if (audit_sink_) {
+        audit_sink_(GrpcSecurityAuditRecord{
+            context.correlation_id,
+            context.full_method_name,
+            context.principal.id,
+            context.peer,
+            context.principal.method,
+            method.access,
+            context.principal.authenticated,
+            decision.allowed,
+            decision.status.error_code()});
+    }
+    return GrpcCallGuard(std::move(context), std::move(decision));
+}
+
+std::shared_ptr<GrpcSecurityGateway> makeGrpcSecurityGateway(
+    const GrpcSecurityRuntimeConfig& config,
+    GrpcSecurityAuditSink audit_sink)
+{
+    return std::make_shared<GrpcSecurityGateway>(
+        config,
+        std::make_shared<DisabledGrpcAuthenticationProvider>(),
+        std::make_shared<CompatibilityGrpcAuthorizationPolicy>(
+            config.recovery_exposure),
+        std::move(audit_sink));
+}
+
+std::shared_ptr<GrpcSecurityGateway> makeDefaultGrpcSecurityGateway()
+{
+    GrpcSecurityRuntimeConfig config;
+    config.transport = GrpcTransportSecurity::Insecure;
+    config.authentication = GrpcAuthenticationMethod::Disabled;
+    config.recovery_exposure = GrpcRecoveryExposure::Disabled;
+    config.legacy_compatibility = true;
+    return makeGrpcSecurityGateway(config);
+}
+
+GrpcCallGuard beginRegisteredGrpcCall(
+    const std::shared_ptr<GrpcSecurityGateway>& gateway,
+    grpc::ServerContext* server_context,
+    const std::string& full_method_name)
+{
+    const auto policy =
+        defaultGrpcMethodPolicyRegistry().find(full_method_name);
+    if (!policy.has_value()) {
+        GrpcRequestContext context;
+        context.full_method_name = full_method_name;
+        context.received_at = std::chrono::steady_clock::now();
+        context.deadline = std::chrono::steady_clock::time_point::max();
+        if (server_context) {
+            context.peer = server_context->peer();
+            context.local_peer = isLocalGrpcPeer(context.peer);
+        }
+        return GrpcCallGuard(
+            std::move(context),
+            {false,
+             grpc::Status(
+                 grpc::StatusCode::INTERNAL,
+                 "gRPC method has no registered security policy")});
+    }
+    const auto active_gateway =
+        gateway ? gateway : makeDefaultGrpcSecurityGateway();
+    return active_gateway->beginCall(server_context, *policy);
+}
+
+} // namespace cmvr::service

cmvr-es/service/grpc/src/grpc_agv_service.cpp

@@ -749,4 +749,24 @@ grpc::Status gRPCAgvServiceImpl::stopMapping(grpc::ServerContext*,
     }
 }
 
+grpc::Status gRPCAgvServiceImpl::relocalize(
+    grpc::ServerContext*,
+    const api::AgvRelocalizeCommand_Request* request,
+    api::AgvRelocalizeCommand_Feedback* response)
+{
+    try {
+        const std::string device_id = request->header().device_id();
+        auto agv = dmgr_.getDevice<device::AbstractAGV>(device_id);
+        if (!agv) {
+            return setDeviceNotFound(response, device_id);
+        }
+        return setResponseResult(
+            response,
+            agv->relocalize(toPose2d(request->pose())));
+    } catch (const std::exception& e) {
+        fillFeedback(response->mutable_header(), false, e.what());
+        return grpc::Status(grpc::StatusCode::INTERNAL, e.what());
+    }
+}
+
 } // namespace cmvr::service

cmvr-es/task/ume_teleop_task/CMakeLists.txt

@@ -0,0 +1,20 @@
+find_package(Threads REQUIRED)
+
+add_library(ume_teleop_task STATIC
+        src/ume_teleop_task.cpp
+)
+target_compile_features(ume_teleop_task PUBLIC cxx_std_17)
+target_include_directories(ume_teleop_task PUBLIC ${PROJECT_SOURCE_DIR}/cmvr-es)
+target_link_libraries(ume_teleop_task
+        PUBLIC
+        cmvr_es::task
+        cmvr_es::arm_teleop_client
+        cmvr_es::proto
+        PRIVATE
+        cmvr_es::logging
+        cmvr_es::stop_all_admission_gate
+        Threads::Threads
+)
+
+add_library(cmvr_es::ume_teleop_task ALIAS ume_teleop_task)
+install(TARGETS ume_teleop_task ARCHIVE DESTINATION lib)

compile_commands.json

@@ -1,986 +0,0 @@
-[
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model/ume/README.md

@@ -0,0 +1,28 @@
+# UME legacy dynamics models
+
+These MJCF files are exact copies from Universal-Manipulation-Exoskeleton
+commit `e087df5cd3b281418722e155d9975695f163698e`:
+
+- `v6_bimanual/robot.xml`: fixed-base model used for
+  `LOCAL_WORLD_ALIGNED` shoulder/wrist rotational Jacobians.
+  SHA-256:
+  `c185fe505ab52275d1be9c5b563df5c6505a3da81e0e622cffd66324e3839f3b`.
+- `v6_imu/robot.xml`: floating-base model used for the original
+  `rnea(q, v, 0)` compensation path.
+  SHA-256:
+  `db1dad82ebca9413edf268a980c5be5a307c990b86654db840098095d8bd5e14`.
+
+The source paths are
+`ume/robot/ume/v6_bimanual/models/robot.xml` and
+`ume/robot/ume/v6_imu/models/robot.xml`, respectively.
+
+Only the model topology/dynamics parser is used. Pinocchio 3.6
+`mjcf::buildModel` and the model adapter load these files without resolving
+their visual STL assets, so no geometry files are duplicated here.
+
+The adapter enforces the model's structural contract. Integrations that require
+byte-for-byte model identity must also compare the SHA-256 values above before
+arming motion.
+
+The repository's root install rule copies `model/` to the deployment tree at
+`bin/model/`.

protos/cmvr/api/agv_command.proto

@@ -37,6 +37,23 @@ message AgvNavigationStatusCommand {
   }
 }
 
+
+// 在当前活动地图中重新设置 AGV 定位位姿。
+message AgvRelocalizeCommand {
+  message Request {
+    // header.device_id 指定目标 AGV 设备。
+    CommandHeader.Request header = 1;
+    // x/y 单位：米，theta 单位：弧度，逆时针为正。
+    cmvr.msgs.AgvPose2d pose = 2;
+  }
+
+  message Feedback {
+    // 成功仅表示控制器接受命令，不表示定位已经收敛。
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+
 // 导航到指定地图位姿命令。
 message AgvNavigateToPoseCommand {
   // 请求体。

protos/cmvr/api/agv_service.proto

@@ -20,6 +20,9 @@ service AgvService {
   // 清除可恢复故障或告警。
   rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
 
+  // 在当前活动地图中重新设置定位位姿。调用前 AGV 必须已经停止。
+  rpc relocalize(AgvRelocalizeCommand.Request)returns (AgvRelocalizeCommand.Feedback);
+
   // 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
   rpc navigateToPose(AgvNavigateToPoseCommand.Request) returns (AgvNavigateToPoseCommand.Feedback);
 

protos/cmvr/api/common.proto

@@ -4,6 +4,59 @@ package cmvr.api;
 
 import "google/protobuf/timestamp.proto";
 
+enum CommandReasonCode {
+    COMMAND_REASON_CODE_UNSPECIFIED = 0;
+    COMMAND_REASON_CODE_NONE = 1;
+    COMMAND_REASON_CODE_INVALID_ARGUMENT = 2;
+    COMMAND_REASON_CODE_UNAUTHENTICATED = 3;
+    COMMAND_REASON_CODE_PERMISSION_DENIED = 4;
+    COMMAND_REASON_CODE_RECOVERY_RPC_DISABLED = 5;
+    COMMAND_REASON_CODE_DEVICE_NOT_FOUND = 6;
+    COMMAND_REASON_CODE_DEVICE_UNAVAILABLE = 7;
+    COMMAND_REASON_CODE_UNSUPPORTED_COMMAND = 8;
+    COMMAND_REASON_CODE_SYSTEM_STARTING = 9;
+    COMMAND_REASON_CODE_SYSTEM_STOPPING = 10;
+    COMMAND_REASON_CODE_SAFETY_LATCHED = 11;
+    COMMAND_REASON_CODE_SAFETY_STATE_MISSING = 12;
+    COMMAND_REASON_CODE_SAFETY_STATE_STALE = 13;
+    COMMAND_REASON_CODE_HARDWARE_UNSAFE = 14;
+    COMMAND_REASON_CODE_EMERGENCY_STOP_ACTIVE = 15;
+    COMMAND_REASON_CODE_PROTECTIVE_STOP_ACTIVE = 16;
+    COMMAND_REASON_CODE_DEVICE_DISCONNECTED = 17;
+    COMMAND_REASON_CODE_DEVICE_FAULT = 18;
+    COMMAND_REASON_CODE_DEVICE_NOT_READY = 19;
+    COMMAND_REASON_CODE_DEVICE_STILL_MOVING = 20;
+    COMMAND_REASON_CODE_CONTROL_BUSY = 21;
+    COMMAND_REASON_CODE_GENERATION_MISMATCH = 22;
+    COMMAND_REASON_CODE_COMMAND_ID_REQUIRED = 23;
+    COMMAND_REASON_CODE_COMMAND_ID_CONFLICT = 24;
+    COMMAND_REASON_CODE_RESULT_EVICTED = 25;
+    COMMAND_REASON_CODE_LEDGER_EXHAUSTED = 26;
+    COMMAND_REASON_CODE_BACKPRESSURE = 27;
+    COMMAND_REASON_CODE_DEADLINE_EXCEEDED_BEFORE_DISPATCH = 28;
+    COMMAND_REASON_CODE_OUTCOME_UNKNOWN = 29;
+    COMMAND_REASON_CODE_PARTICIPANT_TIMEOUT = 30;
+    COMMAND_REASON_CODE_STOP_UNCONFIRMED = 31;
+    COMMAND_REASON_CODE_RECOVERY_EPOCH_MISMATCH = 32;
+    COMMAND_REASON_CODE_RECOVERY_REASON_REQUIRED = 33;
+    COMMAND_REASON_CODE_RECOVERY_AUDIT_FAILED = 34;
+    COMMAND_REASON_CODE_INTERNAL_ERROR = 35;
+}
+
+enum CommandExecutionState {
+    COMMAND_EXECUTION_STATE_UNSPECIFIED = 0;
+    COMMAND_EXECUTION_STATE_RECEIVED = 1;
+    COMMAND_EXECUTION_STATE_RESERVED = 2;
+    COMMAND_EXECUTION_STATE_REJECTED_BEFORE_DISPATCH = 3;
+    COMMAND_EXECUTION_STATE_ADMITTED = 4;
+    COMMAND_EXECUTION_STATE_DISPATCHING = 5;
+    COMMAND_EXECUTION_STATE_ACCEPTED_BY_HARDWARE = 6;
+    COMMAND_EXECUTION_STATE_COMPLETED = 7;
+    COMMAND_EXECUTION_STATE_FAILED = 8;
+    COMMAND_EXECUTION_STATE_CANCELED_BEFORE_DISPATCH = 9;
+    COMMAND_EXECUTION_STATE_OUTCOME_UNKNOWN = 10;
+}
+
 message DeviceLifecycle {
     enum Lifecycle {
         STATE_INIT = 0;
@@ -20,12 +73,22 @@ message CommandHeader {
     message Request {
         string device_id = 1;                      // 目标设备名称
         google.protobuf.Timestamp timestamp = 2;     // 请求时间
+        string command_id = 3;
+        string expected_service_instance_id = 4;
+        optional uint64 expected_device_generation = 5;
+        uint32 valid_for_ms = 6;
     }
 
     message Feedback {
         bool success = 1;                             // 是否成功
         string error_message = 2;                     // 错误信息（成功时为空）
         google.protobuf.Timestamp timestamp = 3;      // 回复时间
+        CommandReasonCode reason_code = 4;
+        string command_id = 5;
+        string service_instance_id = 6;
+        uint64 safety_epoch = 7;
+        uint64 device_generation = 8;
+        CommandExecutionState execution_state = 9;
     }
 }
 

protos/cmvr/api/safety_command.proto

@@ -0,0 +1,204 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+
+enum SafetyTriState {
+    SAFETY_TRI_STATE_UNKNOWN = 0;
+    SAFETY_TRI_STATE_FALSE = 1;
+    SAFETY_TRI_STATE_TRUE = 2;
+}
+
+enum SafetyCondition {
+    SAFETY_CONDITION_UNKNOWN = 0;
+    SAFETY_CONDITION_NOMINAL = 1;
+    SAFETY_CONDITION_RESTRICTED = 2;
+    SAFETY_CONDITION_UNSAFE = 3;
+}
+
+enum SystemAdmissionState {
+    SYSTEM_ADMISSION_STATE_UNSPECIFIED = 0;
+    SYSTEM_ADMISSION_STATE_STARTING = 1;
+    SYSTEM_ADMISSION_STATE_OPEN = 2;
+    SYSTEM_ADMISSION_STATE_STOPPING = 3;
+    SYSTEM_ADMISSION_STATE_LATCHED = 4;
+    SYSTEM_ADMISSION_STATE_RECOVERING = 5;
+    SYSTEM_ADMISSION_STATE_SHUTTING_DOWN = 6;
+}
+
+enum DeviceAdmissionState {
+    DEVICE_ADMISSION_STATE_UNSPECIFIED = 0;
+    DEVICE_ADMISSION_STATE_OBSERVING = 1;
+    DEVICE_ADMISSION_STATE_OPEN = 2;
+    DEVICE_ADMISSION_STATE_BLOCKED = 3;
+    DEVICE_ADMISSION_STATE_QUARANTINED = 4;
+    DEVICE_ADMISSION_STATE_RECOVERING = 5;
+    DEVICE_ADMISSION_STATE_REMOVED = 6;
+}
+
+enum SafetyBlockerScope {
+    SAFETY_BLOCKER_SCOPE_UNSPECIFIED = 0;
+    SAFETY_BLOCKER_SCOPE_DEVICE = 1;
+    SAFETY_BLOCKER_SCOPE_SYSTEM = 2;
+}
+
+enum SafetyRecoveryRequirement {
+    SAFETY_RECOVERY_REQUIREMENT_UNSPECIFIED = 0;
+    SAFETY_RECOVERY_REQUIREMENT_REFRESH_ONLY = 1;
+    SAFETY_RECOVERY_REQUIREMENT_CLEAR_SOFTWARE_LATCH = 2;
+    SAFETY_RECOVERY_REQUIREMENT_HARDWARE_RELEASE_REQUIRED = 3;
+    SAFETY_RECOVERY_REQUIREMENT_MANUAL_INSPECTION_REQUIRED = 4;
+}
+
+enum SafetyOperationResult {
+    SAFETY_OPERATION_RESULT_UNSPECIFIED = 0;
+    SAFETY_OPERATION_RESULT_SUCCEEDED = 1;
+    SAFETY_OPERATION_RESULT_RECOVERED = 2;
+    SAFETY_OPERATION_RESULT_VERIFIED_BUT_STILL_BLOCKED = 3;
+    SAFETY_OPERATION_RESULT_BLOCKER_REMAINS = 4;
+    SAFETY_OPERATION_RESULT_EPOCH_MISMATCH = 5;
+    SAFETY_OPERATION_RESULT_NOTHING_TO_RECOVER = 6;
+    SAFETY_OPERATION_RESULT_TIMED_OUT = 7;
+    SAFETY_OPERATION_RESULT_FAILED = 8;
+}
+
+message DeviceIdList {
+    repeated string device_ids = 1;
+}
+
+message SafetyScope {
+    oneof target {
+        bool all_devices = 1;
+        DeviceIdList devices = 2;
+    }
+}
+
+message SafetyBlockerInfo {
+    CommandReasonCode reason_code = 1;
+    SafetyBlockerScope scope = 2;
+    SafetyRecoveryRequirement recovery_requirement = 3;
+    string source_id = 4;
+    string operation_id = 5;
+    uint64 first_observed_at_unix_ms = 6;
+    uint64 last_observed_at_unix_ms = 7;
+}
+
+message DeviceSafetyStateInfo {
+    string device_id = 1;
+    string device_kind = 2;
+    string policy_family = 3;
+    string lifecycle_state = 4;
+    string health_state = 5;
+    DeviceAdmissionState admission_state = 6;
+    SafetyCondition condition = 7;
+    bool has_sample = 8;
+    bool snapshot_fresh = 9;
+    uint64 sample_age_ms = 10;
+    uint64 sample_sequence = 11;
+    uint64 observed_at_unix_ms = 12;
+    uint64 device_generation = 13;
+    SafetyTriState connected = 14;
+    SafetyTriState operational_ready = 15;
+    SafetyTriState quiescent = 16;
+    SafetyTriState motion_active = 17;
+    SafetyTriState actuator_enabled = 18;
+    SafetyTriState emergency_stop_active = 19;
+    SafetyTriState protective_stop_active = 20;
+    SafetyTriState fault_active = 21;
+    repeated SafetyBlockerInfo blockers = 22;
+}
+
+message SafetyOperationTargetResult {
+    string target_id = 1;
+    SafetyOperationResult result = 2;
+    CommandReasonCode reason_code = 3;
+    string detail = 4;
+    DeviceAdmissionState before_state = 5;
+    DeviceAdmissionState after_state = 6;
+}
+
+message SafetyParticipantResultInfo {
+    bool recorded = 1;
+    bool success = 2;
+    CommandReasonCode reason_code = 3;
+    string detail = 4;
+}
+
+message SafetyParticipantStateInfo {
+    string participant_id = 1;
+    string phase = 2;
+    bool required = 3;
+    bool registered = 4;
+    bool barrier_active = 5;
+    bool barrier_retained = 6;
+    string operation_id = 7;
+    uint64 safety_epoch = 8;
+    SafetyParticipantResultInfo last_request = 9;
+    SafetyParticipantResultInfo last_verify = 10;
+    SafetyParticipantResultInfo last_release = 11;
+}
+
+message GetSafetyStateCommand {
+    message Request {
+        SafetyScope scope = 1;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        SystemAdmissionState system_state = 2;
+        uint64 safety_epoch = 3;
+        string control_service_instance_id = 4;
+        string enforcement_mode = 5;
+        repeated DeviceSafetyStateInfo devices = 6;
+        string active_operation_id = 7;
+        string active_operation_phase = 8;
+        uint64 sampled_at_unix_ms = 9;
+        repeated SafetyParticipantStateInfo participants = 10;
+    }
+}
+
+message RecoverSafetyStateCommand {
+    enum Mode {
+        MODE_UNSPECIFIED = 0;
+        VERIFY_ONLY = 1;
+        CLEAR_SOFTWARE_LATCH = 2;
+    }
+
+    message Request {
+        string recovery_id = 1;
+        SafetyScope scope = 2;
+        uint64 expected_safety_epoch = 3;
+        Mode mode = 4;
+        string reason = 5;
+        uint32 timeout_ms = 6;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        SafetyOperationResult result = 2;
+        uint64 previous_safety_epoch = 3;
+        uint64 current_safety_epoch = 4;
+        SystemAdmissionState system_state = 5;
+        repeated SafetyOperationTargetResult targets = 6;
+        string recovery_id = 7;
+    }
+}
+
+message RestoreOperationalStateCommand {
+    message Request {
+        string recovery_id = 1;
+        string reason = 2;
+        uint32 timeout_ms = 3;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        SafetyOperationResult result = 2;
+        uint64 previous_safety_epoch = 3;
+        uint64 current_safety_epoch = 4;
+        SystemAdmissionState system_state = 5;
+        repeated SafetyOperationTargetResult targets = 6;
+        string recovery_id = 7;
+    }
+}

protos/cmvr/api/system_command.proto

@@ -1,6 +1,9 @@
 syntax = "proto3";
 
+import "cmvr/api/agv_command.proto";
+import "cmvr/api/arm_command.proto";
 import "cmvr/api/common.proto";
+import "cmvr/api/safety_command.proto";
 
 package cmvr.api;
 
@@ -21,6 +24,77 @@ 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 {}
 
@@ -32,6 +106,20 @@ message GetSystemInfoCommand {
         string os = 5;
         string kernel_version = 6;
         string architecture = 7;
+
+        // Changes whenever the in-process ActionQueue idempotency ledger is
+        // recreated. Clients bind submissions and retries to this value.
+        string action_service_instance_id = 8;
+
+        // Effective server-side control-plane settings. These fields describe
+        // what is running, not merely what the configuration requested.
+        string grpc_transport_security = 9;
+        string grpc_authentication = 10;
+        string grpc_recovery_exposure = 11;
+        bool grpc_insecure_non_loopback = 12;
+        string control_service_instance_id = 13;
+        string safety_enforcement_mode = 14;
+        uint32 safety_schema_version = 15;
     }
 }
 
@@ -64,9 +152,111 @@ message UpdateParamsCommand {
 message StopAllCommand {
     message Request {
         CommandHeader.Request header = 1;
+        string operation_id = 2;
+        string expected_service_instance_id = 3;
+        uint32 timeout_ms = 4;
     }
 
     message Feedback {
         CommandHeader.Feedback header = 1;
+        string operation_id = 2;
+        uint64 previous_safety_epoch = 3;
+        uint64 current_safety_epoch = 4;
+        SystemAdmissionState system_state = 5;
+        repeated SafetyOperationTargetResult targets = 6;
+    }
+}
+
+// Final outcome of one ActionQueue execution.
+enum ActionResultCode {
+    ACTION_RESULT_CODE_UNSPECIFIED = 0;
+    ACTION_RESULT_CODE_COMPLETED = 1;
+    ACTION_RESULT_CODE_FAILED = 2;
+    ACTION_RESULT_CODE_CANCELED = 3;
+    ACTION_RESULT_CODE_TIMED_OUT = 4;
+    ACTION_RESULT_CODE_REJECTED = 5;
+}
+
+// Describes whether this RPC admitted a new action or observed an existing
+// idempotency record. Clients must not infer this from an error string.
+enum ActionDeduplicationStatus {
+    ACTION_DEDUPLICATION_STATUS_UNSPECIFIED = 0;
+    ACTION_DEDUPLICATION_STATUS_ACCEPTED_NEW = 1;
+    ACTION_DEDUPLICATION_STATUS_JOINED_IN_FLIGHT = 2;
+    ACTION_DEDUPLICATION_STATUS_CACHED_RESULT = 3;
+    ACTION_DEDUPLICATION_STATUS_RESULT_EVICTED = 4;
+    ACTION_DEDUPLICATION_STATUS_LEDGER_EXHAUSTED = 5;
+    ACTION_DEDUPLICATION_STATUS_ACTION_ID_CONFLICT = 6;
+    ACTION_DEDUPLICATION_STATUS_SERVICE_INSTANCE_MISMATCH = 7;
+}
+
+// Edge-local delay between two device commands.
+message DelayAction {
+    // Delay duration in milliseconds. The server applies a bounded maximum.
+    uint32 duration_ms = 1;
+}
+
+// One finite, synchronous command in an ActionQueue request.
+message ActionStep {
+    // Client-provided identifier used for diagnostics. It must be unique within
+    // one ActionQueue request.
+    string step_id = 1;
+
+    // Per-step timeout in milliseconds. Zero inherits the remaining action
+    // timeout or the server default.
+    uint32 timeout_ms = 2;
+
+    // Tags are grouped by domain so compatible commands can be added without
+    // renumbering existing alternatives: Arm 10-19, AGV 20-29, built-ins 90+.
+    oneof command {
+        MoveJ.Request arm_move_j = 10;
+        MoveL.Request arm_move_l = 11;
+
+        AgvNavigateToPoseCommand.Request agv_navigate_to_pose = 20;
+        AgvNavigateToStationCommand.Request agv_navigate_to_station = 21;
+        AgvFollowPathCommand.Request agv_follow_path = 22;
+
+        DelayAction delay = 90;
+    }
+}
+
+// Atomically submits a complete command sequence for edge-local serial
+// execution. Device motion alternatives must use synchronous execution.
+message ActionQueueCommand {
+    message Request {
+        // Client-generated globally unique idempotency key. During one Action
+        // service instance, retrying an identical accepted request with the
+        // same action_id does not dispatch its steps a second time. Recent
+        // terminal results can be returned; older accepted IDs are rejected
+        // fail-closed after their result is evicted. Deduplication is not
+        // persisted across an edge-service restart; the required instance
+        // epoch below prevents an old retry from being replayed after restart.
+        string action_id = 1;
+        repeated ActionStep steps = 2;
+
+        // Total queue-wait plus execution timeout in milliseconds. Zero uses a
+        // bounded server default.
+        uint32 total_timeout_ms = 3;
+
+        // Required instance epoch obtained from GetSystemInfo. A mismatch
+        // means the process-local deduplication ledger was recreated, so the
+        // server rejects the request instead of risking a replay.
+        string expected_service_instance_id = 4;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        string action_id = 2;
+
+        // Number of steps which completed successfully before the final result.
+        uint32 completed_steps = 3;
+
+        // Present only when a particular step caused failure, cancellation,
+        // timeout, or rejection. Presence distinguishes index zero from no
+        // failed step.
+        optional uint32 failed_step_index = 4;
+        ActionResultCode result = 5;
+        string service_instance_id = 6;
+        ActionDeduplicationStatus deduplication_status = 7;
     }
 }

protos/cmvr/api/system_service.proto

@@ -2,6 +2,7 @@ syntax = "proto3";
 
 import "cmvr/api/common.proto";
 import "cmvr/api/system_command.proto";
+import "cmvr/api/safety_command.proto";
 
 package cmvr.api;
 
@@ -9,9 +10,16 @@ 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) {}
     rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback) {}
 
     rpc StopAll(StopAllCommand.Request) returns (StopAllCommand.Feedback) {}
+
+    rpc ExecuteActionQueue(ActionQueueCommand.Request) returns (ActionQueueCommand.Feedback) {}
+
+    rpc GetSafetyState(GetSafetyStateCommand.Request) returns (GetSafetyStateCommand.Feedback) {}
+    rpc RecoverSafetyState(RecoverSafetyStateCommand.Request) returns (RecoverSafetyStateCommand.Feedback) {}
+    rpc RestoreOperationalState(RestoreOperationalStateCommand.Request) returns (RestoreOperationalStateCommand.Feedback) {}
 }

protos/cmvr/config/arm_config/arm_config.proto

@@ -6,6 +6,7 @@ import "cmvr/config/pinocchio_dls_ik_config.proto";
 import "cmvr/config/pinocchio_qp_ik_config.proto";
 import "cmvr/config/srs_ik_config.proto";
 import "cmvr/config/cartesian_motion_validation_config.proto";
+import "cmvr/config/motor_config/motor_config.proto";
 
 enum ToppraPathType {
   TOPPRA_PATH_TYPE_UNKNOWN = 0;
@@ -24,6 +25,10 @@ message MotorRobotArmBackendConfig {
   double default_vel = 7;
   double default_acc = 8;
   repeated string motor_group_ids = 9;
+  // Reserved opt-in for a future atomic/timed group position-servo primitive.
+  // MotorRobotArm's current sequential per-joint servoJ implementation
+  // deliberately rejects this capability even if this field is true.
+  bool enable_teleop_group_servo = 10;
 }
 
 enum VendorRobotArmBrand {
@@ -43,6 +48,60 @@ message VendorRobotArmBackendConfig {
   string tool_frame = 8;
   string username = 9;
   string password = 10;
+  // AUBO only. Automatic energization after a physical E-stop is deliberately
+  // opt-in because releasing brakes changes the hardware energy state.
+  optional bool auto_power_on_after_hardware_estop_release = 11;
+}
+
+enum DamiaoMotorModel {
+  DAMIAO_MOTOR_MODEL_UNKNOWN = 0;
+  DAMIAO_MOTOR_MODEL_DM4310 = 1;
+  DAMIAO_MOTOR_MODEL_DM4310_48V = 2;
+  DAMIAO_MOTOR_MODEL_DM4340 = 3;
+  DAMIAO_MOTOR_MODEL_DM4340_48V = 4;
+  DAMIAO_MOTOR_MODEL_DM6006 = 5;
+  DAMIAO_MOTOR_MODEL_DM8006 = 6;
+  DAMIAO_MOTOR_MODEL_DM8009 = 7;
+  DAMIAO_MOTOR_MODEL_DM10010L = 8;
+  DAMIAO_MOTOR_MODEL_DM10010 = 9;
+  DAMIAO_MOTOR_MODEL_DMH3510 = 10;
+  DAMIAO_MOTOR_MODEL_DMH6215 = 11;
+  DAMIAO_MOTOR_MODEL_DMG6220 = 12;
+}
+
+message DamiaoJointConfig {
+  string joint_name = 1;
+  uint32 command_id = 2;
+  uint32 feedback_id = 3;
+  uint32 reported_motor_id = 4;
+  DamiaoMotorModel model = 5;
+  // Only +1 and -1 are accepted.
+  int32 direction = 6;
+  // q_joint = direction * q_motor + zero_offset_rad.
+  double zero_offset_rad = 7;
+  double joint_lower_rad = 8;
+  double joint_upper_rad = 9;
+  double max_velocity_rad_s = 10;
+  double max_torque_nm = 11;
+  // Explicit whitelist for the four-bit status nibble in MIT feedback.
+  // The code intentionally does not guess vendor/firmware meanings. At least
+  // one reviewed value is required before hardware_enabled may be true.
+  repeated uint32 healthy_feedback_status = 12;
+  // Raw byte thresholds, interpreted only as ordered protocol values. Nonzero
+  // reviewed limits are required before hardware_enabled may be true.
+  uint32 max_driver_temperature_raw = 13;
+  uint32 max_motor_temperature_raw = 14;
+}
+
+message UmeRobotArmBackendConfig {
+  SocketCanConfig can = 1;
+  repeated DamiaoJointConfig joints = 2;
+  uint32 control_frequency_hz = 3;
+  uint32 cycle_deadline_us = 4;
+  uint32 feedback_watchdog_ms = 5;
+  uint32 shutdown_timeout_ms = 6;
+  // This is deliberately false in every checked-in configuration.
+  bool hardware_enabled = 7;
 }
 
 message SpeedLPlannerConfig {
@@ -133,6 +192,7 @@ message RobotArmConfig {
   oneof backend {
     MotorRobotArmBackendConfig motor = 10;
     VendorRobotArmBackendConfig vendor = 11;
+    UmeRobotArmBackendConfig ume = 12;
   }
 
   ArmKinematicsConfig kinematics = 20;

protos/cmvr/msgs/agv.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。
@@ -12,6 +14,29 @@ message AgvPose2d {
   double theta = 3;
 }
 
+// 固定距离平移使用的距离参考模式。
+enum AgvTranslationMode {
+  // 根据底盘里程计算运动距离。
+  AGV_TRANSLATION_MODE_ODOMETRY = 0;
+  // 根据定位结果计算运动距离。
+  AGV_TRANSLATION_MODE_LOCALIZATION = 1;
+}
+
+
+
+// AGV 车体坐标系下的固定距离平移参数。
+message AgvTranslation {
+  // 平移距离的绝对值，单位：米，必须大于 0。
+  double distance = 1;
+  // 车体 X 方向速度，单位：米/秒；正为向前，负为向后。
+  double vx = 2;
+  // 车体 Y 方向速度，单位：米/秒；正为向左，负为向右。
+  double vy = 3;
+  // 距离参考模式；默认使用里程模式。
+  AgvTranslationMode mode = 4;
+}
+
+
 // AGV 车体坐标系下的平面速度。
 message AgvVelocity {
   // 车体 X 方向线速度，单位：米/秒。
@@ -22,6 +47,9 @@ message AgvVelocity {
   double wz = 3;
 }
 
+
+
+
 // AGV 电池状态。
 message AgvBatteryState {
   // 电量比例，范围：[0, 1]，例如 0.8 表示 80%。
@@ -52,8 +80,17 @@ 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;
+  // 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+  // 0 或未传表示使用适配器默认值 60000 毫秒。
+  int32 blocked_timeout_ms = 11;
 }
 
 // AGV 适配器扩展参数。用于传递厂商或控制器特有的参数。

python/hand_eye_calibration/libs/web-log

@@ -1,256 +0,0 @@
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-09-08 14:26:55 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-09-08 14:26:55 - __main__ - INFO: 旋转矩阵是:
- [[-0.99486349  0.07846371  0.06395369]
- [-0.05884529  0.06577685 -0.9960977 ]
- [-0.08236419 -0.99474462 -0.06082177]]
-2025-09-08 14:26:55 - __main__ - INFO: 平移向量是:
- [[-0.00797824]
- [-0.17640328]
- [ 0.07459845]]
-2025-09-08 14:26:55 - __main__ - INFO: 四元数是：
- [ 0.00673467  0.72826199 -0.68342243  0.05022845]
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-09-08 14:29:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-09-08 14:30:53 - __main__ - INFO: 旋转矩阵是:
- [[ 0.72638143  0.22269568 -0.65021278]
- [ 0.420903    0.60375531  0.67699349]
- [ 0.54333294 -0.76543201  0.34482337]]
-2025-09-08 14:30:53 - __main__ - INFO: 平移向量是:
- [[ 0.15849038]
- [-0.26275262]
- [-0.05082269]]
-2025-09-08 14:30:53 - __main__ - INFO: 四元数是：
- [-0.44096563 -0.36488029  0.0605942   0.81776526]
-2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-09-08 14:32:27 - __main__ - INFO: 旋转矩阵是:
- [[ 0.05477568  0.03458859  0.99789942]
- [-0.99767126  0.04257346  0.0532875 ]
- [-0.04064089 -0.99849443  0.03684003]]
-2025-09-08 14:32:27 - __main__ - INFO: 平移向量是:
- [[-0.14908435]
- [-0.19737896]
- [-0.05964516]]
-2025-09-08 14:32:27 - __main__ - INFO: 四元数是：
- [-0.49380213  0.48758531 -0.48463669  0.53249159]
-2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-09-08 14:37:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-09-08 14:37:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-09-08 14:37:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-09-08 14:37:26 - __main__ - INFO: 旋转矩阵是:
- [[-0.99486349  0.07846371  0.06395369]
- [-0.05884529  0.06577685 -0.9960977 ]
- [-0.08236419 -0.99474462 -0.06082177]]
-2025-09-08 14:37:26 - __main__ - INFO: 平移向量是:
- [[-0.00797824]
- [-0.17640328]
- [ 0.07459845]]
-2025-09-08 14:37:26 - __main__ - INFO: 四元数是：
- [ 0.00673467  0.72826199 -0.68342243  0.05022845]

python/hand_eye_calibration/libs/web-log.2025-08-22.log

@@ -1,704 +0,0 @@
-2025-08-21 09:52:37 - __main__ - INFO: 读 eye_hand_data/data2025082010/1.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
-2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
-2025-08-21 09:54:47 - __main__ - INFO: 旋转矩阵是:
- [[-0.8747942   0.22946188  0.42671109]
- [-0.45426317 -0.08221912 -0.88706538]
- [-0.16846387 -0.96983878  0.17616089]]
-2025-08-21 09:54:47 - __main__ - INFO: 平移向量是:
- [[-0.12651951]
- [-0.21061809]
- [ 0.0697177 ]]
-2025-08-21 09:54:47 - __main__ - INFO: 四元数是：
- [ 0.08840819 -0.63569139  0.73026951 -0.234066  ]
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
-2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
-2025-08-21 09:55:22 - __main__ - INFO: 旋转矩阵是:
- [[-0.87479368  0.22946254  0.4267118 ]
- [-0.45426401 -0.08221905 -0.88706496]
- [-0.16846434 -0.96983863  0.17616128]]
-2025-08-21 09:55:22 - __main__ - INFO: 平移向量是:
- [[-0.12651976]
- [-0.21061824]
- [ 0.0697178 ]]
-2025-08-21 09:55:22 - __main__ - INFO: 四元数是：
- [ 0.08840828 -0.63569123  0.73026947 -0.23406652]
-2025-08-21 11:27:09 - libs.auxiliary - INFO: create folder eye_hand_data/data20250821
-2025-08-21 11:27:09 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 11:27:20 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:28:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:28:51 - __main__ - INFO: 当前关节角: [0.8253898778736996, 0.2562934472690343, -0.0472638845356522, 0.982365663091435, -0.811866925952772, 1.0474525818308873, 0.016616543126199347]
-2025-08-21 11:28:51 - __main__ - INFO: 获取位姿成功:
-[[-0.25318109 -0.89031678  0.37846449  0.20513955]
- [ 0.6294954  -0.44867523 -0.63437061 -0.47519781]
- [ 0.73459844  0.07763101  0.6740464  -0.14564497]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:28:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:28:51 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/1.jpg
-2025-08-21 11:28:53 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:29:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:29:04 - __main__ - INFO: 当前关节角: [0.8917611258247912, 0.3193556252779419, 0.0663351766206834, 0.6812782681741733, -1.1216997200029486, 1.03807878215244, 0.016623187844958753]
-2025-08-21 11:29:04 - __main__ - INFO: 获取位姿成功:
-[[-0.25224294 -0.90609294  0.33966025  0.22289984]
- [ 0.8456558  -0.37703157 -0.37777436 -0.51750052]
- [ 0.47036131  0.19194474  0.8613463  -0.11653364]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:29:04 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:29:04 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/2.jpg
-2025-08-21 11:29:05 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:29:14 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:29:18 - __main__ - INFO: 当前关节角: [1.1896438678089452, 0.30651423165262204, 0.10917083072596027, 0.6814301474601026, -1.6521096487448172, 1.0335860030255448, 0.016608949161902885]
-2025-08-21 11:29:18 - __main__ - INFO: 获取位姿成功:
-[[-0.42170444 -0.84445498  0.33024408  0.2558707 ]
- [ 0.9003429  -0.43313682  0.04213264 -0.51967065]
- [ 0.10746175  0.31510043  0.94295477 -0.04397596]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:29:18 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:29:18 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/3.jpg
-2025-08-21 11:29:19 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:29:28 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:29:34 - __main__ - INFO: 当前关节角: [1.4559585002127002, 0.30681324399679527, 0.17970546960258804, 0.6812127702321163, -2.1080019043365628, 1.0236910675472528, 0.016632680300329335]
-2025-08-21 11:29:34 - __main__ - INFO: 获取位姿成功:
-[[-0.44997072 -0.85803562  0.24759084  0.26886029]
- [ 0.85847564 -0.33920789  0.38465255 -0.52136803]
- [-0.24606082  0.38563309  0.8892363   0.03026231]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:29:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:29:34 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/4.jpg
-2025-08-21 11:29:36 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:29:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:29:51 - __main__ - INFO: 当前关节角: [1.6850703015280803, 0.3357206183368209, 0.14558294028196603, 0.7301084078459711, -2.380654649191254, 1.0414419590902364, 0.016624137090495813]
-2025-08-21 11:29:51 - __main__ - INFO: 获取位姿成功:
-[[-0.48372144 -0.85725737  0.17641818  0.27941969]
- [ 0.74091476 -0.29378779  0.60393216 -0.50585554]
- [-0.46589579  0.42284577  0.77726609  0.08600871]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:29:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:29:51 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/5.jpg
-2025-08-21 11:29:53 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:30:03 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:30:07 - __main__ - INFO: 当前关节角: [1.9511694551949232, 0.7207327096764498, -0.06620038375442117, 0.8133790740933053, -1.3808665335126573, 0.21355366696300027, 1.1411364716197472]
-2025-08-21 11:30:07 - __main__ - INFO: 获取位姿成功:
-[[-0.21216612 -0.68156647  0.70032327  0.38204138]
- [ 0.97416126 -0.20429083  0.09630729 -0.3389997 ]
- [ 0.07742981  0.70266095  0.70729924  0.18673545]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:30:07 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:30:07 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/6.jpg
-2025-08-21 11:30:08 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:30:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:30:21 - __main__ - INFO: 当前关节角: [1.8940381633015537, 0.4051379952163314, -0.12349589512570175, 0.6297399309851491, -1.2283436591092607, 0.9395015316200465, 1.0908577832583988]
-2025-08-21 11:30:21 - __main__ - INFO: 获取位姿成功:
-[[-0.4310179  -0.70629928  0.5615736   0.28826997]
- [ 0.89989504 -0.38227375  0.20989447 -0.50135244]
- [ 0.06642653  0.59582557  0.80036205  0.12584165]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:30:21 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:30:21 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/7.jpg
-2025-08-21 11:30:22 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:30:35 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:30:42 - __main__ - INFO: 当前关节角: [1.8361265915767224, 1.1135570917860655, -0.08976350572081057, 0.5308864500014717, -1.5194516356954322, 0.07328175546087345, 0.9682465849732351]
-2025-08-21 11:30:42 - __main__ - INFO: 获取位姿成功:
-[[-0.13468827 -0.72882711  0.67131968  0.45481058]
- [ 0.98906271 -0.05778144  0.13570654 -0.23383011]
- [-0.06011679  0.68225534  0.7286382   0.15317249]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:30:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:30:42 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/8.jpg
-2025-08-21 11:30:43 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:31:04 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:31:08 - __main__ - INFO: 当前关节角: [1.773997521930743, 0.605477215057948, 0.028329283807957347, 1.2173817716473154, -1.7268484961050745, 0.15453242720534835, 0.8873870023900281]
-2025-08-21 11:31:08 - __main__ - INFO: 获取位姿成功:
-[[-0.35110132 -0.76965787  0.53324913  0.36358769]
- [ 0.90927708 -0.14433419  0.39036245 -0.28723159]
- [-0.22347945  0.62192798  0.75050818  0.11913745]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:31:08 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:31:08 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/9.jpg
-2025-08-21 11:31:09 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:31:26 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:31:30 - __main__ - INFO: 当前关节角: [1.4005130683931457, 1.4388303137420266, 0.15982067409229817, 0.8202088957324373, -1.891621384164204, -1.0446542059876405, 0.5873542192644378]
-2025-08-21 11:31:30 - __main__ - INFO: 获取位姿成功:
-[[ 0.36091887 -0.80430791  0.47204487  0.44921615]
- [ 0.93025175  0.34636313 -0.12109612 -0.02012862]
- [-0.06610037  0.48282644  0.87321782 -0.00595984]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:31:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:31:30 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/10.jpg
-2025-08-21 11:31:32 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:31:51 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:31:56 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:32:05 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:32:09 - __main__ - INFO: 当前关节角: [1.4349839708258678, 0.8371567255510698, -0.01699624134102253, 1.6177536050220789, -2.016514568720455, -0.8374870629979659, 0.5931132919377683]
-2025-08-21 11:32:09 - __main__ - INFO: 获取位姿成功:
-[[-0.0401021  -0.92276134  0.3832797   0.33858263]
- [ 0.95373667  0.07903515  0.29006864 -0.11724388]
- [-0.2979567   0.37718027  0.87690185 -0.01763812]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:32:09 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:32:09 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/11.jpg
-2025-08-21 11:32:12 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:32:48 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:32:52 - __main__ - INFO: 当前关节角: [0.7093417632317545, 0.9039997485340793, 0.3698402999208317, 1.4349972602633867, -1.868800572207794, -0.677916040481914, -0.3356152520822075]
-2025-08-21 11:32:52 - __main__ - INFO: 获取位姿成功:
-[[ 6.72744280e-03 -9.95813278e-01  9.11628002e-02  3.05739589e-01]
- [ 9.97824272e-01  7.05770400e-04 -6.59259053e-02 -1.35775630e-01]
- [ 6.55855519e-02  9.14079675e-02  9.93651407e-01 -1.75063848e-01]
- [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
-2025-08-21 11:32:52 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:32:52 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/12.jpg
-2025-08-21 11:32:53 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:34:07 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:34:12 - __main__ - INFO: 当前关节角: [0.5287221701769795, 0.9609924505790383, 0.5908911081355157, 1.1136415746388637, -2.4692230547809086, -0.6455401229494787, -0.3356162013277445]
-2025-08-21 11:34:12 - __main__ - INFO: 获取位姿成功:
-[[ 0.12520332 -0.99186645 -0.02291465  0.31366201]
- [ 0.90598349  0.10488766  0.41011278 -0.19783819]
- [-0.40437364 -0.07210778  0.91174691 -0.25384818]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:34:12 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:34:12 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/13.jpg
-2025-08-21 11:34:13 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:34:31 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 11:34:37 - __main__ - INFO: 当前关节角: [0.39919666739988574, 1.3179505393164566, 0.9448201543641821, 1.2761780402126846, -2.03749479358051, -0.385342428786525, -0.3356180998188186]
-2025-08-21 11:34:37 - __main__ - INFO: 获取位姿成功:
-[[ 0.03301101 -0.99908595  0.02715761  0.313764  ]
- [ 0.83829597  0.01288215 -0.54506323 -0.0913168 ]
- [ 0.54421516  0.0407592   0.83795498 -0.18631875]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 11:34:37 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 11:34:37 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/14.jpg
-2025-08-21 11:34:39 - __main__ - INFO: robot.torqueOff
-2025-08-21 11:35:06 - __main__ - INFO: 检测到 'q'，退出程序
-2025-08-21 11:35:07 - __main__ - INFO: 相机已关闭，窗口已销毁
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/1.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_1.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/2.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_2.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/3.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_3.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/4.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_4.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/5.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_5.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/6.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_6.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/7.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_7.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/8.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_8.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/9.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_9.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/10.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_10.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/11.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_11.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/12.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_12.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/13.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_13.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/14.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_14.jpg
-2025-08-21 11:35:46 - __main__ - INFO: 旋转矩阵是:
- [[-0.99732744  0.02734315  0.0677519 ]
- [-0.06713675  0.0228221  -0.99748274]
- [-0.02882056 -0.99936555 -0.02092538]]
-2025-08-21 11:35:46 - __main__ - INFO: 平移向量是:
- [[-0.00078482]
- [-0.17419722]
- [ 0.06796275]]
-2025-08-21 11:35:46 - __main__ - INFO: 四元数是：
- [-0.01392688  0.71433097 -0.69885263  0.03379822]
-2025-08-21 11:38:53 - __main__ - INFO: 读 eye_hand_data/data20250821/1.jpg
-2025-08-21 11:38:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_1.jpg
-2025-08-21 11:38:53 - __main__ - INFO: 读 eye_hand_data/data20250821/2.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_2.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/3.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_3.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/4.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_4.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/5.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_5.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/6.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_6.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/7.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_7.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/8.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_8.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/9.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_9.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/10.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_10.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/11.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_11.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/12.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_12.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/13.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_13.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/14.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_14.jpg
-2025-08-21 11:38:54 - __main__ - INFO: 旋转矩阵是:
- [[-0.99732744  0.02734315  0.0677519 ]
- [-0.06713675  0.0228221  -0.99748274]
- [-0.02882056 -0.99936555 -0.02092538]]
-2025-08-21 11:38:54 - __main__ - INFO: 平移向量是:
- [[-0.00078482]
- [-0.17419722]
- [ 0.06796275]]
-2025-08-21 11:38:54 - __main__ - INFO: 四元数是：
- [-0.01392688  0.71433097 -0.69885263  0.03379822]
-2025-08-21 16:14:42 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082101
-2025-08-21 16:14:42 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 16:15:03 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:15:13 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:15:27 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:16:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:16:07 - __main__ - INFO: 当前关节角: [0.1881774860208302, 1.5359324367098321, 2.101302129336008, 1.237947176207676, -3.239618392465156, 0.660369236729398, -0.22447188913024077]
-2025-08-21 16:16:07 - __main__ - INFO: 获取位姿成功:
-[[-0.13936557 -0.98748272 -0.0738588   0.25639562]
- [ 0.98789482 -0.13351676 -0.07897536 -0.27191259]
- [ 0.06812542 -0.08397117  0.9941367  -0.23921664]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:16:07 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:16:07 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/1.jpg
-2025-08-21 16:16:11 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:16:20 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:16:25 - __main__ - INFO: 当前关节角: [0.1847488111409769, 1.3553365747934838, 2.1088087630430623, 1.2244802297734347, -3.265897305913068, 0.6804733079587482, -0.22435892891133088]
-2025-08-21 16:16:25 - __main__ - INFO: 获取位姿成功:
-[[-0.12214152 -0.99148995 -0.04504583  0.24935823]
- [ 0.98590508 -0.12643169  0.10957282 -0.3301866 ]
- [-0.11433557 -0.03102752  0.99295754 -0.22048319]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:16:25 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:16:25 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/2.jpg
-2025-08-21 16:16:28 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:16:36 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:16:40 - __main__ - INFO: 当前关节角: [0.18216591403464222, 1.3093807506078976, 2.108801169078766, 1.237752580872579, -3.386807456195824, 0.674951546669682, -0.22420894811647574]
-2025-08-21 16:16:40 - __main__ - INFO: 获取位姿成功:
-[[-0.12765968 -0.99174931  0.01167535  0.24725332]
- [ 0.95778442 -0.12021331  0.26114702 -0.34440277]
- [-0.25758884  0.04452042  0.96522843 -0.21331776]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:16:40 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:16:40 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/3.jpg
-2025-08-21 16:16:43 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:16:52 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:16:57 - __main__ - INFO: 当前关节角: [0.15805412814783334, 1.218028207858052, 2.1077446587960202, 1.3528049369461503, -3.398763203735069, 0.6851996014877597, -0.2241823692414381]
-2025-08-21 16:16:57 - __main__ - INFO: 获取位姿成功:
-[[-0.12061637 -0.99148511 -0.04908122  0.24079104]
- [ 0.90170295 -0.13010493  0.41231601 -0.36562399]
- [-0.41519089  0.00547538  0.90971784 -0.17673377]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:16:57 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:16:57 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/4.jpg
-2025-08-21 16:16:59 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:17:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:17:14 - __main__ - INFO: 当前关节角: [0.15782630921893942, 1.148865228782473, 2.0802051472748952, 1.4294517678358942, -3.4739330085691504, 0.6850638593759604, -0.22417762301375282]
-2025-08-21 16:17:14 - __main__ - INFO: 获取位姿成功:
-[[-0.13323657 -0.98863605 -0.06961879  0.24168424]
- [ 0.81161017 -0.14915447  0.56483792 -0.37307124]
- [-0.56880309  0.01875375  0.8222599  -0.14946229]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:17:14 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:17:14 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/5.jpg
-2025-08-21 16:17:21 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:17:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:17:43 - __main__ - INFO: 当前关节角: [0.3590416826912605, 1.1394164387065981, 2.0769226562077487, 1.5773176436344847, -2.5660726784358565, 0.5330820549286868, 0.8458689010901876]
-2025-08-21 16:17:43 - __main__ - INFO: 获取位姿成功:
-[[-0.1100018  -0.97171944  0.20895198  0.26213488]
- [ 0.9937792  -0.11120581  0.00601407 -0.35469134]
- [ 0.01739269  0.20831369  0.97790741 -0.04493756]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:17:43 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:17:43 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/6.jpg
-2025-08-21 16:17:46 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:17:53 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:17:59 - __main__ - INFO: 当前关节角: [0.3520818144135517, 1.1556029736045101, 2.017053740185504, 1.6291274650471073, -2.566324228503177, 0.5650403044248166, 0.8458594086348171]
-2025-08-21 16:17:59 - __main__ - INFO: 获取位姿成功:
-[[-0.20049553 -0.96061353  0.19241411  0.26384736]
- [ 0.97904311 -0.18929837  0.07510466 -0.33478381]
- [-0.03572288  0.20343986  0.97843554 -0.04338287]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:17:59 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:17:59 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/7.jpg
-2025-08-21 16:18:01 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:18:09 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:18:13 - __main__ - INFO: 当前关节角: [0.3172653866053403, 1.313845052368681, 1.8904177408232146, 1.7188083864061938, -2.6905567381656357, 0.28883548277045484, 0.8458527639160577]
-2025-08-21 16:18:13 - __main__ - INFO: 获取位姿成功:
-[[-0.09067794 -0.96156996  0.25915385  0.27763283]
- [ 0.99082305 -0.1133011  -0.0737058  -0.27031831]
- [ 0.1002357   0.25009212  0.96301959 -0.05935151]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:18:13 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:18:13 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/8.jpg
-2025-08-21 16:18:16 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:18:25 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:18:30 - __main__ - INFO: 当前关节角: [0.3113658255925252, 1.3320734144168047, 1.7972094230484208, 1.807990953858325, -2.9523187889736606, 0.29634021798643495, 0.8458480176883724]
-2025-08-21 16:18:30 - __main__ - INFO: 获取位姿成功:
-[[-0.06182316 -0.96333913  0.26106631  0.27572117]
- [ 0.985666   -0.01779069  0.16776779 -0.23950089]
- [-0.15697273  0.26769612  0.9506305  -0.05533822]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:18:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:18:30 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/9.jpg
-2025-08-21 16:18:33 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:18:44 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:18:49 - __main__ - INFO: 当前关节角: [0.3174068241903619, 1.4675260063272884, 1.5487007384287987, 1.7904982571014212, -3.2589716104746933, 0.07981446324690623, 0.8458337790053165]
-2025-08-21 16:18:49 - __main__ - INFO: 获取位姿成功:
-[[ 0.00204587 -0.95045805  0.31084613  0.291817  ]
- [ 0.96975598  0.0777536   0.2313606  -0.15674434]
- [-0.24406795  0.30097156  0.92187144 -0.07498582]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:18:49 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:18:49 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/10.jpg
-2025-08-21 16:18:52 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:19:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:19:14 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:19:25 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:19:30 - __main__ - INFO: 当前关节角: [0.27753946087946524, 1.6105355419582903, 1.2276915274253017, 1.6875801067280616, -3.5108406242955006, -0.6567573574608925, 0.8458072001302789]
-2025-08-21 16:19:30 - __main__ - INFO: 获取位姿成功:
-[[ 0.38872691 -0.8780319   0.27919772  0.29523427]
- [ 0.91848265  0.39319638 -0.0422638  -0.05153552]
- [-0.07267057  0.27286734  0.95930308 -0.10555432]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:19:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:19:30 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/11.jpg
-2025-08-21 16:19:33 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:20:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:20:06 - __main__ - INFO: 当前关节角: [0.19953615811726558, 1.5134979676870048, 1.3755934745543004, 1.2340486247869789, -3.235004109909517, -0.39607934505618747, -0.18381760126912305]
-2025-08-21 16:20:06 - __main__ - INFO: 获取位姿成功:
-[[ 0.2004248  -0.97752505 -0.065381    0.29826073]
- [ 0.95269085  0.17889858  0.24571414 -0.11593768]
- [-0.22849516 -0.11153509  0.96713489 -0.24686201]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:20:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:20:06 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/12.jpg
-2025-08-21 16:20:08 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:20:19 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:20:24 - __main__ - INFO: 当前关节角: [0.14909894575122867, 1.5289374463472523, 1.327669864370393, 1.130913097185633, -3.1925177781618777, -0.44474526525007424, -0.2899508462764979]
-2025-08-21 16:20:24 - __main__ - INFO: 获取位姿成功:
-[[ 0.1795737  -0.98355917 -0.01909571  0.27480921]
- [ 0.95378635  0.16931837  0.24823956 -0.10309542]
- [-0.24092504 -0.06279052  0.96851044 -0.28676362]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:20:24 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:20:24 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/13.jpg
-2025-08-21 16:20:26 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:20:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:20:43 - __main__ - INFO: 当前关节角: [0.16214537641255308, 1.3656235486785808, 1.5120835918367883, 1.2035123451053618, -2.9271913103622, -0.014777854520918107, -0.2900476693212778]
-2025-08-21 16:20:43 - __main__ - INFO: 获取位姿成功:
-[[ 0.03397924 -0.99615678 -0.08072841  0.28406157]
- [ 0.99940914  0.03344943  0.00790666 -0.19681757]
- [-0.00517596 -0.08094937  0.99670478 -0.25137906]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:20:43 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:20:43 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/14.jpg
-2025-08-21 16:20:45 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:21:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:21:26 - __main__ - INFO: 当前关节角: [0.23122007565318572, 1.628535135831983, 1.828089329614453, 1.4320631423083405, -3.0376977295588006, 0.19928270955887112, 0.14386290736881704]
-2025-08-21 16:21:26 - __main__ - INFO: 获取位姿成功:
-[[ 0.02777164 -0.99933259  0.02373016  0.29887982]
- [ 0.98010716  0.02255505 -0.19718324 -0.18783112]
- [ 0.1965164   0.0287342   0.98007941 -0.17737878]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:21:26 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:21:26 - __main__ - INFO: ===采集第15次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/15.jpg
-2025-08-21 16:21:29 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:21:42 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:21:47 - __main__ - INFO: 当前关节角: [0.22977437470024648, 1.339187060471517, 2.1365172402697836, 1.3177511977536744, -3.033028390762013, 0.8488428873577902, 0.1439046741724476]
-2025-08-21 16:21:47 - __main__ - INFO: 获取位姿成功:
-[[-0.24782493 -0.96680534  0.06221126  0.25321104]
- [ 0.96857382 -0.24585225  0.03770167 -0.33940743]
- [-0.02115539  0.06959961  0.99735066 -0.17940936]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:21:47 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:21:47 - __main__ - INFO: ===采集第16次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/16.jpg
-2025-08-21 16:21:50 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:22:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:22:05 - __main__ - INFO: 当前关节角: [0.2123139522916026, 1.6156225487913838, 1.9870955510359554, 1.1415721753212567, -3.261262139955614, 0.40399890057186194, -0.2904045856432116]
-2025-08-21 16:22:05 - __main__ - INFO: 获取位姿成功:
-[[-0.02238853 -0.99787522 -0.06118662  0.27706052]
- [ 0.9941035  -0.01572528 -0.10728906 -0.21679508]
- [ 0.10609892 -0.06322787  0.99234331 -0.26052986]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:22:05 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:22:05 - __main__ - INFO: ===采集第17次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/17.jpg
-2025-08-21 16:22:08 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:22:20 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:22:25 - __main__ - INFO: 当前关节角: [0.7920960399069291, 1.588399136034099, 1.9284805883681642, 1.3829188023637766, -3.1986537013134204, 0.2975713894479991, 1.133828230229938]
-2025-08-21 16:22:25 - __main__ - INFO: 获取位姿成功:
-[[ 0.02514396 -0.85857888  0.51206454  0.37379129]
- [ 0.99831944 -0.00518728 -0.05771811 -0.22146041]
- [ 0.05221177  0.51265524  0.85700556 -0.00260762]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:22:25 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:22:25 - __main__ - INFO: ===采集第18次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/18.jpg
-2025-08-21 16:22:28 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:22:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 16:22:42 - __main__ - INFO: 当前关节角: [0.5278507627739604, 1.75270689378007, 1.4620754384535017, 1.2688669510862645, -3.519189238793925, -0.41788541353348263, 0.5962609901386524]
-2025-08-21 16:22:42 - __main__ - INFO: 获取位姿成功:
-[[ 0.30642283 -0.90783743  0.28624507  0.37152839]
- [ 0.94130348  0.33372329  0.05075938 -0.05876817]
- [-0.14160791  0.25388965  0.95681098 -0.11450045]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 16:22:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 16:22:42 - __main__ - INFO: ===采集第19次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/19.jpg
-2025-08-21 16:22:45 - __main__ - INFO: robot.torqueOff
-2025-08-21 16:22:51 - __main__ - INFO: 检测到 'q'，退出程序
-2025-08-21 16:22:52 - __main__ - INFO: 相机已关闭，窗口已销毁
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/19.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_19.jpg
-2025-08-21 16:23:13 - __main__ - INFO: 旋转矩阵是:
- [[-0.99574619  0.06505242  0.06525112]
- [-0.06118047  0.06271804 -0.9961543 ]
- [-0.06889468 -0.99590895 -0.05847131]]
-2025-08-21 16:23:13 - __main__ - INFO: 平移向量是:
- [[-0.00932961]
- [-0.17733044]
- [ 0.07299168]]
-2025-08-21 16:23:13 - __main__ - INFO: 四元数是：
- [ 0.0013306   0.72748463 -0.68457228  0.04609919]
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/19.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_19.jpg
-2025-08-21 16:25:47 - __main__ - INFO: 旋转矩阵是:
- [[-0.99574619  0.06505242  0.06525112]
- [-0.06118047  0.06271804 -0.9961543 ]
- [-0.06889468 -0.99590895 -0.05847131]]
-2025-08-21 16:25:47 - __main__ - INFO: 平移向量是:
- [[-0.00932961]
- [-0.17733044]
- [ 0.07299168]]
-2025-08-21 16:25:47 - __main__ - INFO: 四元数是：
- [ 0.0013306   0.72748463 -0.68457228  0.04609919]
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
-2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
-2025-08-21 16:26:09 - __main__ - INFO: 旋转矩阵是:
- [[-0.99486349  0.07846371  0.06395369]
- [-0.05884529  0.06577685 -0.9960977 ]
- [-0.08236419 -0.99474462 -0.06082177]]
-2025-08-21 16:26:09 - __main__ - INFO: 平移向量是:
- [[-0.00797824]
- [-0.17640328]
- [ 0.07459845]]
-2025-08-21 16:26:09 - __main__ - INFO: 四元数是：
- [ 0.00673467  0.72826199 -0.68342243  0.05022845]
-2025-08-21 17:18:15 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082102
-2025-08-21 17:18:15 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 17:18:34 - __main__ - INFO: 当前关节角: [0.0020332839403781207, 1.3408007778845155, 1.0441700907637408e-05, 0.3222679105856357, 2.752812057468044e-05, 0.001749459524797795, -0.09380919019975154]
-2025-08-21 17:18:34 - __main__ - INFO: 获取位姿成功:
-[[ 9.99992854e-01 -3.77482620e-03 -2.04576300e-04  3.09996779e-02]
- [-1.98775400e-04  1.53703370e-03 -9.99998799e-01 -2.05056032e-01]
- [ 3.77513610e-03  9.99991694e-01  1.53627240e-03 -4.49243316e-01]
- [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
-2025-08-21 17:18:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 17:18:34 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082102/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082102/1.jpg
-2025-08-21 17:18:36 - __main__ - INFO: 检测到 'q'，退出程序
-2025-08-21 17:18:36 - __main__ - INFO: 相机已关闭，窗口已销毁
-2025-08-21 17:19:10 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082103
-2025-08-21 17:19:10 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 17:19:15 - __main__ - INFO: robot.torqueOff
-2025-08-21 17:19:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
-2025-08-21 17:19:50 - __main__ - INFO: 当前关节角: [0.8979217293602972, 1.0614919233239744, 0.02469082566441424, 0.3463407774054252, -1.1223005924279064, 0.6689039033530859, -0.09368958526208224]
-2025-08-21 17:19:50 - __main__ - INFO: 获取位姿成功:
-[[-0.17316325 -0.89563008  0.40970873  0.35893735]
- [ 0.79070696 -0.37443718 -0.48433387 -0.30959237]
- [ 0.58719417  0.24009071  0.7730197  -0.22790869]
- [ 0.          0.          0.          1.        ]]
-2025-08-21 17:19:50 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
-2025-08-21 17:19:50 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082103/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082103/1.jpg
-2025-08-21 17:19:53 - __main__ - INFO: robot.torqueOff
-2025-08-21 17:21:50 - __main__ - INFO: 检测到 'q'，退出程序
-2025-08-21 17:21:51 - __main__ - INFO: 相机已关闭，窗口已销毁
-2025-08-21 17:21:57 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082104
-2025-08-21 17:21:57 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 17:22:07 - __main__ - INFO: robot.torqueOff
-2025-08-21 17:22:16 - __main__ - INFO: 相机已关闭，窗口已销毁
-2025-08-21 18:00:33 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082105
-2025-08-21 18:00:33 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 18:00:45 - __main__ - INFO: 检测到 'q'，退出程序
-2025-08-21 18:00:45 - __main__ - INFO: 相机已关闭，窗口已销毁
-2025-08-21 18:01:14 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082106
-2025-08-21 18:01:14 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
-2025-08-21 18:01:32 - __main__ - INFO: 检测到 'q'，退出程序
-2025-08-21 18:01:32 - __main__ - INFO: 相机已关闭，窗口已销毁