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update huayan_arm and grpc_service

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This commit is contained in:
xtkuang 2026-07-18 14:49:11 +08:00
parent 2fa161f1cc
commit 89b1e1f8f6
4 changed files with 24 additions and 0 deletions
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1
cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
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@ -117,6 +117,7 @@ bool HuayanRobot::init()
CMVR_LOG(ERROR) << "[HuayanRobot] init failed: " << result.message;
return false;
}
setSpeedScaling(1);
return true;
}

3
cmvr-es/service/grpc/include/grpc_arm_service.h
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@ -50,6 +50,9 @@ public:
grpc::Status computeForwardKinematics(grpc::ServerContext* context,
const api::ComputeForwardKinematics_Request* request,
api::ComputeForwardKinematics_Response* response) override;
grpc::Status clearFault(grpc::ServerContext *context,
const cmvr::api::CommandHeader_Request *request,
cmvr::api::CommandHeader_Feedback *response) override;
private:
device::DeviceManager& dmgr_;

19
cmvr-es/service/grpc/src/grpc_arm_service.cpp
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@ -350,4 +350,23 @@ grpc::Status gRPCArmServiceImpl::computeForwardKinematics(grpc::ServerContext*,
return grpc::Status(grpc::StatusCode::UNIMPLEMENTED, "computeForwardKinematics is not implemented");
}
grpc::Status gRPCArmServiceImpl::clearFault(grpc::ServerContext *context,
const cmvr::api::CommandHeader_Request *request,
cmvr::api::CommandHeader_Feedback *response)
{
try {
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 result = arm->clearFault();
fillFeedback(response, result.ok(), result.ok() ? "" : result.message);
return resultToStatus(result);
} catch (const std::exception& e) {
fillFeedback(response, false, e.what());
return grpc::Status(grpc::StatusCode::INTERNAL, e.what());
}
}
} // namespace cmvr::service

1
protos/cmvr/api/arm_service.proto
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@ -8,6 +8,7 @@ import "cmvr/api/arm_command.proto";
service ArmService {
rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
rpc moveL(MoveL.Request) returns (MoveL.Response);
rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);