From 910e0c553de67ec6aedf06039d721f06ab5c6caf Mon Sep 17 00:00:00 2001 From: xtkuang <87661715@qq.com> Date: Mon, 21 Sep 2026 13:46:25 +0800 Subject: [PATCH] restore json command interface for aubo io --- cmvr-es/common/types/arm/arm_types.h | 12 - cmvr-es/devices/arm/aubo_arm/CMakeLists.txt | 1 + .../devices/arm/aubo_arm/include/aubo_arm.h | 12 +- cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp | 421 ++++++++++-------- cmvr-es/devices/arm/robot_arm.h | 31 +- .../service/grpc/include/grpc_arm_service.h | 14 +- cmvr-es/service/grpc/src/grpc_arm_service.cpp | 94 +--- protos/cmvr/api/arm_command.proto | 73 --- protos/cmvr/api/arm_service.proto | 8 +- protos/cmvr/api/common.proto | 7 + 10 files changed, 265 insertions(+), 408 deletions(-) diff --git a/cmvr-es/common/types/arm/arm_types.h b/cmvr-es/common/types/arm/arm_types.h index 74ffe854..52b367de 100644 --- a/cmvr-es/common/types/arm/arm_types.h +++ b/cmvr-es/common/types/arm/arm_types.h @@ -181,18 +181,6 @@ struct PayloadConfig { double cog_z{0.0}; }; -struct CabinetDigitalInputState { - std::uint32_t count{0}; - bool value{false}; -}; - -struct CabinetDigitalOutputState { - std::uint32_t count{0}; - bool value{false}; - std::string runstate; - int runstate_code{0}; -}; - struct MotionOptions { double velocity{0.0}; double acceleration{0.0}; diff --git a/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt b/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt index 1d227ac7..18f2e52f 100644 --- a/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt +++ b/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt @@ -31,6 +31,7 @@ target_link_libraries(aubo_arm cmvr_es::proto PRIVATE glog + jsoncpp Threads::Threads ) diff --git a/cmvr-es/devices/arm/aubo_arm/include/aubo_arm.h b/cmvr-es/devices/arm/aubo_arm/include/aubo_arm.h index de31b00d..fc2d7a71 100644 --- a/cmvr-es/devices/arm/aubo_arm/include/aubo_arm.h +++ b/cmvr-es/devices/arm/aubo_arm/include/aubo_arm.h @@ -24,16 +24,8 @@ public: std::string typeName() const override { return "AuboARM"; } bool init() override; bool stop() override; - Result getCabinetDigitalInput( - std::uint32_t index, - CabinetDigitalInputState& state) const override; - Result getCabinetDigitalOutput( - std::uint32_t index, - CabinetDigitalOutputState& state) const override; - Result setCabinetDigitalOutput( - std::uint32_t index, - bool value, - CabinetDigitalOutputState& state) 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; } diff --git a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp b/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp index 2473b270..d850384a 100644 --- a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp +++ b/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp @@ -2,7 +2,9 @@ #include "devices/arm/aubo_arm/include/aubo_motion_result.h" #include +#include #include +#include #include #include #include @@ -10,6 +12,7 @@ #include #include "common/base/logging/logger.h" +#include #if defined(CMVR_HAS_AUBO_SDK) #include "aubo_sdk/rpc.h" @@ -62,6 +65,98 @@ std::string vendorBrandName(const config::VendorRobotArmBrand brand) } } +enum class CabinetIoOperation { + GetDigitalInput, + GetDigitalOutput, + SetDigitalOutput, +}; + +std::string lowerString(std::string value) +{ + std::transform( + value.begin(), value.end(), value.begin(), [](const unsigned char c) { + return static_cast(std::tolower(c)); + }); + return value; +} + +bool parseJsonCommand(const std::string& request_json, + Json::Value& root, + std::string& error) +{ + Json::CharReaderBuilder builder; + std::unique_ptr reader(builder.newCharReader()); + return reader->parse(request_json.data(), + request_json.data() + request_json.size(), + &root, + &error); +} + +std::string compactJson(const Json::Value& value) +{ + Json::StreamWriterBuilder builder; + builder[std::string("indentation")] = ""; + return Json::writeString(builder, value); +} + +Json::Value& jsonMember(Json::Value& root, const char* name) +{ + return *root.demand(name, name + std::strlen(name)); +} + +const Json::Value* findJsonMember(const Json::Value& root, const char* name) +{ + return root.find(name, name + std::strlen(name)); +} + +bool requiredJsonString(const Json::Value& root, + const char* name, + std::string& value) +{ + const Json::Value* member = findJsonMember(root, name); + if (!member || !member->isString() || member->asString().empty()) { + return false; + } + value = member->asString(); + return true; +} + +bool requiredJsonInt(const Json::Value& root, const char* name, int& value) +{ + const Json::Value* member = findJsonMember(root, name); + if (!member || !member->isInt()) { + return false; + } + value = member->asInt(); + return true; +} + +bool requiredJsonBool(const Json::Value& root, const char* name, bool& value) +{ + const Json::Value* member = findJsonMember(root, name); + if (!member || !member->isBool()) { + return false; + } + value = member->asBool(); + return true; +} + +bool parseCabinetIoOperation(const std::string& name, + CabinetIoOperation& operation) +{ + const std::string normalized = lowerString(name); + if (normalized == "get_di") { + operation = CabinetIoOperation::GetDigitalInput; + } else if (normalized == "get_do") { + operation = CabinetIoOperation::GetDigitalOutput; + } else if (normalized == "set_do") { + operation = CabinetIoOperation::SetDigitalOutput; + } else { + return false; + } + return true; +} + #if defined(CMVR_HAS_AUBO_SDK) constexpr auto kAutoEnablePollInterval = std::chrono::milliseconds(100); constexpr auto kAutoEnableReconnectInterval = std::chrono::milliseconds(500); @@ -356,224 +451,172 @@ bool AuboArm::stop() return stopMotion().ok(); } -Result AuboArm::getCabinetDigitalInput( - const std::uint32_t index, - CabinetDigitalInputState& state) const +bool AuboArm::executeJsonCommand(const std::string& request_json, + std::string& response_json) { - state = {}; - std::lock_guard lock(mutex_); - const auto ready = ensureConnected_("getCabinetDigitalInput"); - if (!ready.ok()) { - return ready; + Json::Value response(Json::objectValue); + jsonMember(response, "success") = false; + const auto fail = [&](const std::string& error_code, + const std::string& error_message) { + jsonMember(response, "success") = false; + jsonMember(response, "error_code") = error_code; + jsonMember(response, "error_message") = error_message; + response_json = compactJson(response); + return false; + }; + + Json::Value root; + std::string parse_error; + if (!parseJsonCommand(request_json, root, parse_error)) { + return fail("invalid_json", "invalid json: " + parse_error); + } + if (!root.isObject()) { + return fail("invalid_json", "invalid json: root must be an object"); + } + + std::string command; + if (!requiredJsonString(root, "command", command)) { + return fail( + "invalid_argument", + "field 'command' is required and must be a non-empty string"); + } + command = lowerString(command); + if (command != "cabinet_io") { + return fail("unsupported_command", + "unsupported json command: " + command); + } + jsonMember(response, "command") = command; + + std::string operation_name; + if (!requiredJsonString(root, "operation", operation_name)) { + return fail( + "invalid_argument", + "field 'operation' is required and must be a non-empty string"); + } + operation_name = lowerString(operation_name); + CabinetIoOperation operation{}; + if (!parseCabinetIoOperation(operation_name, operation)) { + return fail("invalid_operation", + "unsupported cabinet_io operation: " + operation_name); + } + jsonMember(response, "operation") = operation_name; + + int index = -1; + if (!requiredJsonInt(root, "index", index) || index < 0) { + return fail( + "invalid_argument", + "field 'index' is required and must be a non-negative JSON integer"); + } + jsonMember(response, "index") = index; + + bool output_value = false; + if (operation == CabinetIoOperation::SetDigitalOutput && + !requiredJsonBool(root, "value", output_value)) { + return fail( + "invalid_argument", + "field 'value' is required for set_do and must be a JSON boolean"); } #if defined(CMVR_HAS_AUBO_SDK) - try { - const auto robot_names = sdk_->rpc_client->getRobotNames(); - if (robot_names.empty()) { - return Result::failure( - ArmErrorCode::RobotNotReady, - "[AuboArm] getCabinetDigitalInput failed: robot name list is empty"); - } - auto robot_interface = - sdk_->rpc_client->getRobotInterface(robot_names.front()); - if (!robot_interface || !robot_interface->getIoControl()) { - return Result::failure( - ArmErrorCode::RobotNotReady, - "[AuboArm] getCabinetDigitalInput failed: IO interface is unavailable"); - } - - auto io = robot_interface->getIoControl(); - const int count = io->getStandardDigitalInputNum(); - if (count < 0) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] getCabinetDigitalInput failed: invalid IO count=" + - std::to_string(count)); - } - state.count = static_cast(count); - if (index >= state.count) { - return Result::failure( - ArmErrorCode::InvalidArgument, - "[AuboArm] getCabinetDigitalInput index out of range: index=" + - std::to_string(index) + ", count=" + - std::to_string(state.count)); - } - state.value = io->getStandardDigitalInput(static_cast(index)); - return Result::success(); - } catch (const arcs::common_interface::AuboException& e) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] getCabinetDigitalInput failed: " + - std::string(e.what()) + ", sdk ret=" + - std::to_string(e.code())); - } catch (const std::exception& e) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] getCabinetDigitalInput failed: " + - std::string(e.what())); - } -#else - return Result::failure( - ArmErrorCode::UnsupportedCommand, - "[AuboArm] getCabinetDigitalInput failed: Aubo SDK is unavailable"); -#endif -} - -Result AuboArm::getCabinetDigitalOutput( - const std::uint32_t index, - CabinetDigitalOutputState& state) const -{ - state = {}; std::lock_guard lock(mutex_); - const auto ready = ensureConnected_("getCabinetDigitalOutput"); + const auto ready = ensureConnected_("cabinet_io"); if (!ready.ok()) { - return ready; + return fail("not_connected", ready.message); } -#if defined(CMVR_HAS_AUBO_SDK) try { const auto robot_names = sdk_->rpc_client->getRobotNames(); if (robot_names.empty()) { - return Result::failure( - ArmErrorCode::RobotNotReady, - "[AuboArm] getCabinetDigitalOutput failed: robot name list is empty"); + return fail( + "robot_interface_unavailable", + "[AuboArm] cabinet_io failed: robot name list is empty"); } + auto robot_interface = sdk_->rpc_client->getRobotInterface(robot_names.front()); - if (!robot_interface || !robot_interface->getIoControl()) { - return Result::failure( - ArmErrorCode::RobotNotReady, - "[AuboArm] getCabinetDigitalOutput failed: IO interface is unavailable"); + if (!robot_interface) { + return fail( + "robot_interface_unavailable", + "[AuboArm] cabinet_io failed: robot interface is null"); } auto io = robot_interface->getIoControl(); - const int count = io->getStandardDigitalOutputNum(); + if (!io) { + return fail( + "io_interface_unavailable", + "[AuboArm] cabinet_io failed: IO interface is null"); + } + + const bool is_input = + operation == CabinetIoOperation::GetDigitalInput; + const int count = is_input ? io->getStandardDigitalInputNum() + : io->getStandardDigitalOutputNum(); + jsonMember(response, "count") = count; if (count < 0) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] getCabinetDigitalOutput failed: invalid IO count=" + + return fail( + "invalid_io_count", + "[AuboArm] cabinet_io failed: invalid IO count=" + std::to_string(count)); } - state.count = static_cast(count); - if (index >= state.count) { - return Result::failure( - ArmErrorCode::InvalidArgument, - "[AuboArm] getCabinetDigitalOutput index out of range: index=" + + if (index >= count) { + return fail( + "index_out_of_range", + "[AuboArm] cabinet_io index out of range: index=" + std::to_string(index) + ", count=" + - std::to_string(state.count)); - } - - const auto runstate = - io->getStandardDigitalOutputRunstate(static_cast(index)); - state.runstate = arcs::common_interface::toString(runstate); - state.runstate_code = static_cast(runstate); - state.value = - io->getStandardDigitalOutput(static_cast(index)); - return Result::success(); - } catch (const arcs::common_interface::AuboException& e) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] getCabinetDigitalOutput failed: " + - std::string(e.what()) + ", sdk ret=" + - std::to_string(e.code())); - } catch (const std::exception& e) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] getCabinetDigitalOutput failed: " + - std::string(e.what())); - } -#else - return Result::failure( - ArmErrorCode::UnsupportedCommand, - "[AuboArm] getCabinetDigitalOutput failed: Aubo SDK is unavailable"); -#endif -} - -Result AuboArm::setCabinetDigitalOutput( - const std::uint32_t index, - const bool value, - CabinetDigitalOutputState& state) -{ - state = {}; - std::lock_guard lock(mutex_); - const auto ready = ensureConnected_("setCabinetDigitalOutput"); - if (!ready.ok()) { - return ready; - } - -#if defined(CMVR_HAS_AUBO_SDK) - try { - const auto robot_names = sdk_->rpc_client->getRobotNames(); - if (robot_names.empty()) { - return Result::failure( - ArmErrorCode::RobotNotReady, - "[AuboArm] setCabinetDigitalOutput failed: robot name list is empty"); - } - auto robot_interface = - sdk_->rpc_client->getRobotInterface(robot_names.front()); - if (!robot_interface || !robot_interface->getIoControl()) { - return Result::failure( - ArmErrorCode::RobotNotReady, - "[AuboArm] setCabinetDigitalOutput failed: IO interface is unavailable"); - } - - auto io = robot_interface->getIoControl(); - const int count = io->getStandardDigitalOutputNum(); - if (count < 0) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] setCabinetDigitalOutput failed: invalid IO count=" + std::to_string(count)); } - state.count = static_cast(count); - if (index >= state.count) { - return Result::failure( - ArmErrorCode::InvalidArgument, - "[AuboArm] setCabinetDigitalOutput index out of range: index=" + - std::to_string(index) + ", count=" + - std::to_string(state.count)); + + if (operation == CabinetIoOperation::GetDigitalInput) { + jsonMember(response, "value") = + io->getStandardDigitalInput(index); + } else { + const auto runstate = + io->getStandardDigitalOutputRunstate(index); + jsonMember(response, "runstate") = + arcs::common_interface::toString(runstate); + jsonMember(response, "runstate_code") = + static_cast(runstate); + + if (operation == CabinetIoOperation::GetDigitalOutput) { + jsonMember(response, "value") = + io->getStandardDigitalOutput(index); + } else { + using arcs::common_interface::StandardOutputRunState; + if (runstate != StandardOutputRunState::None) { + return fail( + "output_managed_by_runstate", + "[AuboArm] cabinet_io set_do rejected: output is " + "managed by controller runstate; configure this " + "channel as None before writing"); + } + + const int ret = + io->setStandardDigitalOutput(index, output_value); + jsonMember(response, "sdk_return_code") = ret; + if (ret != 0) { + return fail( + "sdk_command_failed", + "[AuboArm] cabinet_io set_do failed: sdk ret=" + + std::to_string(ret)); + } + jsonMember(response, "requested_value") = output_value; + } } - const auto runstate = - io->getStandardDigitalOutputRunstate(static_cast(index)); - state.runstate = arcs::common_interface::toString(runstate); - state.runstate_code = static_cast(runstate); - using arcs::common_interface::StandardOutputRunState; - if (runstate != StandardOutputRunState::None) { - return Result::failure( - ArmErrorCode::CommandRejected, - "[AuboArm] setCabinetDigitalOutput rejected: output is " - "managed by controller runstate; configure this channel as " - "None before writing"); - } - - const int ret = - io->setStandardDigitalOutput(static_cast(index), value); - if (ret != 0) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] setCabinetDigitalOutput failed: sdk ret=" + - std::to_string(ret)); - } - state.value = value; - return Result::success(); + jsonMember(response, "success") = true; + response_json = compactJson(response); + return true; } catch (const arcs::common_interface::AuboException& e) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] setCabinetDigitalOutput failed: " + - std::string(e.what()) + ", sdk ret=" + - std::to_string(e.code())); + jsonMember(response, "sdk_return_code") = e.code(); + return fail("sdk_exception", + std::string("[AuboArm] cabinet_io failed: ") + e.what()); } catch (const std::exception& e) { - return Result::failure( - ArmErrorCode::CommandFailed, - "[AuboArm] setCabinetDigitalOutput failed: " + - std::string(e.what())); + return fail("sdk_exception", + std::string("[AuboArm] cabinet_io failed: ") + e.what()); } #else - return Result::failure( - ArmErrorCode::UnsupportedCommand, - "[AuboArm] setCabinetDigitalOutput failed: Aubo SDK is unavailable"); + return fail("sdk_unavailable", + "[AuboArm] cabinet_io failed: Aubo SDK is unavailable"); #endif } diff --git a/cmvr-es/devices/arm/robot_arm.h b/cmvr-es/devices/arm/robot_arm.h index 932facec..bc5c3efa 100644 --- a/cmvr-es/devices/arm/robot_arm.h +++ b/cmvr-es/devices/arm/robot_arm.h @@ -44,33 +44,12 @@ public: ArmErrorCode::UnsupportedCommand, "ListTCPFrame is not supported by this robot arm"); } - virtual Result getCabinetDigitalInput( - std::uint32_t, - CabinetDigitalInputState& state) const + virtual bool executeJsonCommand(const std::string&, + std::string& response_json) { - state = {}; - return Result::failure( - ArmErrorCode::UnsupportedCommand, - "cabinet digital input is not supported by this robot arm"); - } - virtual Result getCabinetDigitalOutput( - std::uint32_t, - CabinetDigitalOutputState& state) const - { - state = {}; - return Result::failure( - ArmErrorCode::UnsupportedCommand, - "cabinet digital output is not supported by this robot arm"); - } - virtual Result setCabinetDigitalOutput( - std::uint32_t, - bool, - CabinetDigitalOutputState& state) - { - state = {}; - return Result::failure( - ArmErrorCode::UnsupportedCommand, - "cabinet digital output is not supported by this robot arm"); + response_json = + R"({"success":false,"error_code":"unsupported_command","error_message":"JSON command unsupported"})"; + return false; } virtual Result torqueOn() = 0; diff --git a/cmvr-es/service/grpc/include/grpc_arm_service.h b/cmvr-es/service/grpc/include/grpc_arm_service.h index 029c62d5..76bb44b3 100644 --- a/cmvr-es/service/grpc/include/grpc_arm_service.h +++ b/cmvr-es/service/grpc/include/grpc_arm_service.h @@ -59,18 +59,10 @@ public: grpc::Status computeForwardKinematics(grpc::ServerContext* context, const api::ComputeForwardKinematics_Request* request, api::ComputeForwardKinematics_Response* response) override; - grpc::Status getCabinetDigitalInput( + grpc::Status ExecuteJsonCommand( grpc::ServerContext* context, - const api::CabinetDigitalInput_Request* request, - api::CabinetDigitalInput_Response* response) override; - grpc::Status getCabinetDigitalOutput( - grpc::ServerContext* context, - const api::CabinetDigitalOutput_Request* request, - api::CabinetDigitalOutput_Response* response) override; - grpc::Status setCabinetDigitalOutput( - grpc::ServerContext* context, - const api::SetCabinetDigitalOutput_Request* request, - api::SetCabinetDigitalOutput_Response* response) override; + const api::JsonDeviceCommand_Request* request, + api::JsonDeviceCommand_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 4d77f96c..c0fe66d9 100644 --- a/cmvr-es/service/grpc/src/grpc_arm_service.cpp +++ b/cmvr-es/service/grpc/src/grpc_arm_service.cpp @@ -588,10 +588,10 @@ grpc::Status gRPCArmServiceImpl::computeForwardKinematics(grpc::ServerContext*, return grpc::Status(grpc::StatusCode::UNIMPLEMENTED, "computeForwardKinematics is not implemented"); } -grpc::Status gRPCArmServiceImpl::getCabinetDigitalInput( +grpc::Status gRPCArmServiceImpl::ExecuteJsonCommand( grpc::ServerContext*, - const api::CabinetDigitalInput_Request* request, - api::CabinetDigitalInput_Response* response) + const api::JsonDeviceCommand_Request* request, + api::JsonDeviceCommand_Feedback* response) { auto control_lease = ControlCommandArbiter::instance().tryAcquireControl(); @@ -606,85 +606,17 @@ grpc::Status gRPCArmServiceImpl::getCabinetDigitalInput( return setDeviceNotFound(response, device_id); } - device::CabinetDigitalInputState state; - const auto result = - arm->getCabinetDigitalInput(request->index(), state); - response->set_count(state.count); - response->set_value(state.value); - if (result.ok()) { - logRpcSuccess("getCabinetDigitalInput", device_id); + 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 setResponseResult(response, result); - } catch (const std::exception& e) { - fillFeedback(response->mutable_header(), false, e.what()); - return grpc::Status(grpc::StatusCode::INTERNAL, e.what()); - } -} - -grpc::Status gRPCArmServiceImpl::getCabinetDigitalOutput( - grpc::ServerContext*, - const api::CabinetDigitalOutput_Request* request, - api::CabinetDigitalOutput_Response* response) -{ - auto control_lease = - ControlCommandArbiter::instance().tryAcquireControl(); - if (!control_lease) { - return setControlBusy(response); - } - - try { - const std::string device_id = request->header().device_id(); - auto arm = dmgr_.getDevice(device_id); - if (!arm) { - return setDeviceNotFound(response, device_id); - } - - device::CabinetDigitalOutputState state; - const auto result = - arm->getCabinetDigitalOutput(request->index(), state); - response->set_count(state.count); - response->set_value(state.value); - response->set_runstate(state.runstate); - response->set_runstate_code(state.runstate_code); - if (result.ok()) { - logRpcSuccess("getCabinetDigitalOutput", device_id); - } - return setResponseResult(response, result); - } catch (const std::exception& e) { - fillFeedback(response->mutable_header(), false, e.what()); - return grpc::Status(grpc::StatusCode::INTERNAL, e.what()); - } -} - -grpc::Status gRPCArmServiceImpl::setCabinetDigitalOutput( - grpc::ServerContext*, - const api::SetCabinetDigitalOutput_Request* request, - api::SetCabinetDigitalOutput_Response* response) -{ - auto control_lease = - ControlCommandArbiter::instance().tryAcquireControl(); - if (!control_lease) { - return setControlBusy(response); - } - - try { - const std::string device_id = request->header().device_id(); - auto arm = dmgr_.getDevice(device_id); - if (!arm) { - return setDeviceNotFound(response, device_id); - } - - device::CabinetDigitalOutputState state; - const auto result = arm->setCabinetDigitalOutput( - request->index(), request->value(), state); - response->set_count(state.count); - response->set_requested_value(request->value()); - response->set_runstate(state.runstate); - response->set_runstate_code(state.runstate_code); - if (result.ok()) { - logRpcSuccess("setCabinetDigitalOutput", device_id); - } - return setResponseResult(response, result); + return grpc::Status::OK; } catch (const std::exception& e) { fillFeedback(response->mutable_header(), false, e.what()); return grpc::Status(grpc::StatusCode::INTERNAL, e.what()); diff --git a/protos/cmvr/api/arm_command.proto b/protos/cmvr/api/arm_command.proto index bb39d2b7..5aac4619 100644 --- a/protos/cmvr/api/arm_command.proto +++ b/protos/cmvr/api/arm_command.proto @@ -319,76 +319,3 @@ message ComputeForwardKinematics { TransformMatrix4x4 matrix = 2; } } - -// 读取机械臂控制柜 Standard 数字输入（DI）。 -message CabinetDigitalInput { - // 数字输入读取请求。 - message Request { - // 通用请求头，包含目标设备 ID 和请求时间戳。 - CommandHeader.Request header = 1; - // DI 通道索引，从 0 开始，无单位。 - uint32 index = 2; - } - - // 数字输入读取结果。 - message Response { - // 通用响应头，包含成功标志、错误信息和响应时间戳。 - CommandHeader.Feedback header = 1; - // 控制柜可用 Standard DI 通道总数，无单位。 - uint32 count = 2; - // 输入电平；true 为高电平，false 为低电平，无单位。 - bool value = 3; - } -} - -// 读取机械臂控制柜 Standard 数字输出（DO）。 -message CabinetDigitalOutput { - // 数字输出读取请求。 - message Request { - // 通用请求头，包含目标设备 ID 和请求时间戳。 - CommandHeader.Request header = 1; - // DO 通道索引，从 0 开始，无单位。 - uint32 index = 2; - } - - // 数字输出读取结果。 - message Response { - // 通用响应头，包含成功标志、错误信息和响应时间戳。 - CommandHeader.Feedback header = 1; - // 控制柜可用 Standard DO 通道总数，无单位。 - uint32 count = 2; - // 当前输出电平；true 为高电平，false 为低电平，无单位。 - bool value = 3; - // 控制器对该输出通道配置的运行状态名称，无单位。 - string runstate = 4; - // 控制器输出运行状态枚举值，无单位。 - int32 runstate_code = 5; - } -} - -// 设置机械臂控制柜 Standard 数字输出（DO）。 -message SetCabinetDigitalOutput { - // 数字输出设置请求。 - message Request { - // 通用请求头，包含目标设备 ID 和请求时间戳。 - CommandHeader.Request header = 1; - // DO 通道索引，从 0 开始，无单位。 - uint32 index = 2; - // 目标输出电平；true 为高电平，false 为低电平，无单位。 - bool value = 3; - } - - // 数字输出设置结果。 - message Response { - // 通用响应头，包含成功标志、错误信息和响应时间戳。 - CommandHeader.Feedback header = 1; - // 控制柜可用 Standard DO 通道总数，无单位。 - uint32 count = 2; - // SDK 已接受的目标输出电平，不代表已经回读确认，无单位。 - bool requested_value = 3; - // 写入前该输出通道的控制器运行状态名称，无单位。 - string runstate = 4; - // 写入前该输出通道的控制器运行状态枚举值，无单位。 - int32 runstate_code = 5; - } -} diff --git a/protos/cmvr/api/arm_service.proto b/protos/cmvr/api/arm_service.proto index 78caa4f9..64db1d18 100644 --- a/protos/cmvr/api/arm_service.proto +++ b/protos/cmvr/api/arm_service.proto @@ -39,10 +39,6 @@ service ArmService { rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response); // 根据关节角计算正运动学矩阵；输入角度 rad，输出平移元素 m。 rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response); - // 读取控制柜 Standard DI；通道索引从 0 开始，电平为布尔值。 - rpc getCabinetDigitalInput(CabinetDigitalInput.Request) returns (CabinetDigitalInput.Response); - // 读取控制柜 Standard DO 及其控制器运行状态；通道索引从 0 开始。 - rpc getCabinetDigitalOutput(CabinetDigitalOutput.Request) returns (CabinetDigitalOutput.Response); - // 设置控制柜 Standard DO；仅允许写入未被控制器运行状态管理的通道。 - rpc setCabinetDigitalOutput(SetCabinetDigitalOutput.Request) returns (SetCabinetDigitalOutput.Response); + // 执行机械臂厂商扩展 JSON 命令；当前用于 AUBO 控制柜 Standard DI/DO。 + rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback); } diff --git a/protos/cmvr/api/common.proto b/protos/cmvr/api/common.proto index 5686a18a..ac469f0f 100644 --- a/protos/cmvr/api/common.proto +++ b/protos/cmvr/api/common.proto @@ -59,14 +59,21 @@ message ConfigParam { } } +// 设备厂商扩展 JSON 命令；JSON 内容及字段单位由具体设备命令定义。 message JsonDeviceCommand { + // JSON 命令请求。 message Request { + // 通用请求头，包含目标设备 ID 和请求时间戳。 CommandHeader.Request header = 1; + // JSON 格式的设备命令字符串，无单位。 string request_json = 2; } + // JSON 命令响应。 message Feedback { + // 通用响应头，包含成功标志、错误信息和响应时间戳。 CommandHeader.Feedback header = 1; + // JSON 格式的设备响应字符串，无单位。 string response_json = 2; } }