From 89b1e1f8f634704e75ae06c96cee076fc4b26c65 Mon Sep 17 00:00:00 2001
From: xtkuang <87661715@qq.com>
Date: Sat, 18 Jul 2026 14:49:11 +0800
Subject: [PATCH] update huayan_arm and grpc_service

---
 cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp |  1 +
 .../service/grpc/include/grpc_arm_service.h   |  3 +++
 cmvr-es/service/grpc/src/grpc_arm_service.cpp | 19 +++++++++++++++++++
 protos/cmvr/api/arm_service.proto             |  1 +
 4 files changed, 24 insertions(+)

diff --git a/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp b/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
index 3ac77065..115ec8fe 100644
--- a/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
+++ b/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
@@ -117,6 +117,7 @@ bool HuayanRobot::init()
         CMVR_LOG(ERROR) << "[HuayanRobot] init failed: " << result.message;
         return false;
     }
+    setSpeedScaling(1);
     return true;
 }
 
diff --git a/cmvr-es/service/grpc/include/grpc_arm_service.h b/cmvr-es/service/grpc/include/grpc_arm_service.h
index 9a39ab3a..07a2dc30 100644
--- a/cmvr-es/service/grpc/include/grpc_arm_service.h
+++ b/cmvr-es/service/grpc/include/grpc_arm_service.h
@@ -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_;
diff --git a/cmvr-es/service/grpc/src/grpc_arm_service.cpp b/cmvr-es/service/grpc/src/grpc_arm_service.cpp
index ac8e3c0b..29a4cf5b 100644
--- a/cmvr-es/service/grpc/src/grpc_arm_service.cpp
+++ b/cmvr-es/service/grpc/src/grpc_arm_service.cpp
@@ -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
+
diff --git a/protos/cmvr/api/arm_service.proto b/protos/cmvr/api/arm_service.proto
index 565b4939..92562f4a 100644
--- a/protos/cmvr/api/arm_service.proto
+++ b/protos/cmvr/api/arm_service.proto
@@ -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);