restore json command interface for aubo io

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};

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
 )
 

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(
+    bool executeJsonCommand(const std::string& request_json,
-        std::uint32_t index,
+                            std::string& response_json) override;
-        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;
 
     RobotModel getRobotModel() const override { return model_; }
     std::size_t getDof() const override { return model_.dof; }

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 <algorithm>
+#include <cctype>
 #include <chrono>
+#include <cstring>
 #include <exception>
 #include <set>
 #include <stdexcept>
@@ -10,6 +12,7 @@
 #include <utility>
 
 #include "common/base/logging/logger.h"
+#include <json/json.h>
 
 #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<char>(std::tolower(c));
+        });
+    return value;
+}
+
+bool parseJsonCommand(const std::string& request_json,
+                      Json::Value& root,
+                      std::string& error)
+{
+    Json::CharReaderBuilder builder;
+    std::unique_ptr<Json::CharReader> 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(
+bool AuboArm::executeJsonCommand(const std::string& request_json,
-    const std::uint32_t index,
+                                 std::string& response_json)
-    CabinetDigitalInputState& state) const
 {
-    state = {};
+    Json::Value response(Json::objectValue);
-    std::lock_guard<std::mutex> lock(mutex_);
+    jsonMember(response, "success") = false;
-    const auto ready = ensureConnected_("getCabinetDigitalInput");
+    const auto fail = [&](const std::string& error_code,
-    if (!ready.ok()) {
+                          const std::string& error_message) {
-        return ready;
+        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<std::uint32_t>(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<int>(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<std::mutex> 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(
+            return fail(
-                ArmErrorCode::RobotNotReady,
+                "robot_interface_unavailable",
-                "[AuboArm] getCabinetDigitalOutput failed: robot name list is empty");
+                "[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()) {
+        if (!robot_interface) {
-            return Result::failure(
+            return fail(
-                ArmErrorCode::RobotNotReady,
+                "robot_interface_unavailable",
-                "[AuboArm] getCabinetDigitalOutput failed: IO interface is 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(
+            return fail(
-                ArmErrorCode::CommandFailed,
+                "invalid_io_count",
-                "[AuboArm] getCabinetDigitalOutput failed: invalid IO count=" +
+                "[AuboArm] cabinet_io failed: invalid IO count=" +
                     std::to_string(count));
         }
-        state.count = static_cast<std::uint32_t>(count);
+        if (index >= count) {
-        if (index >= state.count) {
+            return fail(
-            return Result::failure(
+                "index_out_of_range",
-                ArmErrorCode::InvalidArgument,
+                "[AuboArm] cabinet_io index out of range: index=" +
-                "[AuboArm] getCabinetDigitalOutput index out of range: index=" +
                     std::to_string(index) + ", count=" +
-                    std::to_string(state.count));
-        }
-
-        const auto runstate =
-            io->getStandardDigitalOutputRunstate(static_cast<int>(index));
-        state.runstate = arcs::common_interface::toString(runstate);
-        state.runstate_code = static_cast<int>(runstate);
-        state.value =
-            io->getStandardDigitalOutput(static_cast<int>(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<std::mutex> 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<std::uint32_t>(count);
+
-        if (index >= state.count) {
+        if (operation == CabinetIoOperation::GetDigitalInput) {
-            return Result::failure(
+            jsonMember(response, "value") =
-                ArmErrorCode::InvalidArgument,
+                io->getStandardDigitalInput(index);
-                "[AuboArm] setCabinetDigitalOutput index out of range: index=" +
+        } else {
-                    std::to_string(index) + ", count=" +
+            const auto runstate =
-                    std::to_string(state.count));
+                io->getStandardDigitalOutputRunstate(index);
+            jsonMember(response, "runstate") =
+                arcs::common_interface::toString(runstate);
+            jsonMember(response, "runstate_code") =
+                static_cast<int>(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 =
+        jsonMember(response, "success") = true;
-            io->getStandardDigitalOutputRunstate(static_cast<int>(index));
+        response_json = compactJson(response);
-        state.runstate = arcs::common_interface::toString(runstate);
+        return true;
-        state.runstate_code = static_cast<int>(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<int>(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();
     } catch (const arcs::common_interface::AuboException& e) {
-        return Result::failure(
+        jsonMember(response, "sdk_return_code") = e.code();
-            ArmErrorCode::CommandFailed,
+        return fail("sdk_exception",
-            "[AuboArm] setCabinetDigitalOutput failed: " +
+                    std::string("[AuboArm] cabinet_io failed: ") + e.what());
-                std::string(e.what()) + ", sdk ret=" +
-                std::to_string(e.code()));
     } catch (const std::exception& e) {
-        return Result::failure(
+        return fail("sdk_exception",
-            ArmErrorCode::CommandFailed,
+                    std::string("[AuboArm] cabinet_io failed: ") + e.what());
-            "[AuboArm] setCabinetDigitalOutput failed: " +
-                std::string(e.what()));
     }
 #else
-    return Result::failure(
+    return fail("sdk_unavailable",
-        ArmErrorCode::UnsupportedCommand,
+                "[AuboArm] cabinet_io failed: Aubo SDK is unavailable");
-        "[AuboArm] setCabinetDigitalOutput failed: Aubo SDK is unavailable");
 #endif
 }
 

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(
+    virtual bool executeJsonCommand(const std::string&,
-        std::uint32_t,
+                                    std::string& response_json)
-        CabinetDigitalInputState& state) const
     {
-        state = {};
+        response_json =
-        return Result::failure(
+            R"({"success":false,"error_code":"unsupported_command","error_message":"JSON command unsupported"})";
-            ArmErrorCode::UnsupportedCommand,
+        return false;
-            "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");
     }
 
     virtual Result torqueOn() = 0;

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,
+        const api::JsonDeviceCommand_Request* request,
-        api::CabinetDigitalInput_Response* response) override;
+        api::JsonDeviceCommand_Feedback* 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;
 
 private:
     device::DeviceManager& dmgr_;

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,
+    const api::JsonDeviceCommand_Request* request,
-    api::CabinetDigitalInput_Response* response)
+    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;
+        std::string response_json;
-        const auto result =
+        const bool success = arm->executeJsonCommand(
-            arm->getCabinetDigitalInput(request->index(), state);
+            request->request_json(), response_json);
-        response->set_count(state.count);
+        fillFeedback(response->mutable_header(),
-        response->set_value(state.value);
+                     success,
-        if (result.ok()) {
+                     success ? "" : response_json);
-            logRpcSuccess("getCabinetDigitalInput", device_id);
+        response->set_response_json(response_json);
+        if (success) {
+            logRpcSuccess("ExecuteJsonCommand", 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());
-    }
-}
-
-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::RobotArm>(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::RobotArm>(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);
     } catch (const std::exception& e) {
         fillFeedback(response->mutable_header(), false, e.what());
         return grpc::Status(grpc::StatusCode::INTERNAL, e.what());

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;
-  }
-}

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。
+  // 执行机械臂厂商扩展 JSON 命令；当前用于 AUBO 控制柜 Standard DI/DO。
-  rpc getCabinetDigitalInput(CabinetDigitalInput.Request) returns (CabinetDigitalInput.Response);
+  rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback);
-  // 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);
 }

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;
     }
 }