delete agv connect and disconnect interfaces

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

@@ -165,18 +165,6 @@ struct AgvAdapterParams {
     }
 };
 
-/**
- * @brief AGV 驱动连接信息。
- *
- * 简单设备可只使用 ip/port。多端口、认证信息或其他连接参数可通过
- * adapter_params 传给具体实现。
- */
-struct AgvConnectionOptions {
-    std::string ip;
-    int port{0};
-    AgvAdapterParams adapter_params;
-};
-
 /**
  * @brief 作为 AgvRuntimeState 一部分暴露的电池信息。
  */

cmvr-es/config/devices/agv/src1100.pb.txt

@@ -8,7 +8,7 @@ agv {
   }
 
   agvs {
-    id: "agv_src1100"
+    id: "src1100"
     src1100_agv {
       ip: "192.168.192.5"
       enable: false

cmvr-es/config/manager/device_manager.pb.txt

@@ -49,7 +49,7 @@ device_manager {
     id: "huayan_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/huayan_arm.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
@@ -67,9 +67,9 @@ device_manager {
   }
 
   devices {
-    id: "agv_src1100"
+    id: "src1100"
     type: DEVICE_TYPE_AGV
-    config_file: "devices/agv/agv.pb.txt"
+    config_file: "devices/agv/src1100.pb.txt"
-    enable: false
+    enable: true
   }
 }

cmvr-es/devices/agv/abstract_agv.h

@@ -37,23 +37,6 @@ public:
      */
     virtual AgvNavigationStatus navigationStatus() const { return {}; }
 
-    /**
-     * @brief 建立与 AGV 的通信连接。
-     */
-    virtual AgvResult connect(const AgvConnectionOptions& options = {})
-    {
-        (void)options;
-        return AgvResult::failure(AgvErrorCode::UnsupportedCommand, "connect not implemented");
-    }
-    
-    /**
-     * @brief 关闭与 AGV 的通信连接。
-     */
-    virtual AgvResult disconnect()
-    {
-        return AgvResult::failure(AgvErrorCode::UnsupportedCommand, "disconnect not implemented");
-    }
-
     /**
      * @brief 触发 AGV 急停行为。
      */

cmvr-es/devices/agv/src1100/include/src1100_agv.h

@@ -27,8 +27,6 @@ public:
     AgvRuntimeState runtimeState() const override;
     AgvNavigationStatus navigationStatus() const override;
 
-    AgvResult connect(const AgvConnectionOptions& options = {}) override;
-    AgvResult disconnect() override;
     AgvResult emergencyStop() override;
     AgvResult clearFault() override;
 
@@ -63,6 +61,8 @@ private:
         int push{19301};
     };
 
+    AgvResult connect_();
+    AgvResult disconnect_();
     AgvResult connectSocket_(int& sock, int port);
     void closeSocket_(int& sock) const;
     bool connected_() const;
@@ -85,7 +85,6 @@ private:
 
     config::Src1100AgvConfig config_;
     std::string ip_;
-    bool enable_{true};
     int recv_timeout_ms_{1000};
     Ports ports_;
 

cmvr-es/devices/agv/src1100/src/src1100_agv.cpp

@@ -116,7 +116,6 @@ AgvTaskType toTaskType(const int value)
 Src1100Agv::Src1100Agv(const config::Src1100AgvConfig& cfg)
     : config_(cfg),
       ip_(cfg.ip()),
-      enable_(cfg.enable()),
       recv_timeout_ms_(cfg.recv_timeout_ms() > 0 ? cfg.recv_timeout_ms() : 1000)
 {
     id_ = cfg.id();
@@ -126,11 +125,19 @@ Src1100Agv::Src1100Agv(const config::Src1100AgvConfig& cfg)
     if (cfg.port_config() > 0) ports_.config = cfg.port_config();
     if (cfg.port_other() > 0) ports_.other = cfg.port_other();
     if (cfg.port_push() > 0) ports_.push = cfg.port_push();
+
+    const auto result = connect_();
+    if (!result.ok()) {
+        CMVR_LOG(ERROR) << "[Src1100Agv] Auto connect failed"
+                        << ", id=" << id_
+                        << ", ip=" << ip_
+                        << ", error=" << result.message;
+    }
 }
 
 Src1100Agv::~Src1100Agv()
 {
-    (void)disconnect();
+    (void)disconnect_();
 }
 
 bool Src1100Agv::init()
@@ -140,15 +147,12 @@ bool Src1100Agv::init()
 
 bool Src1100Agv::start()
 {
-    if (!enable_) {
     return true;
-    }
-    return connect().ok();
 }
 
 bool Src1100Agv::stop()
 {
-    return disconnect().ok();
+    return true;
 }
 
 bool Src1100Agv::update()
@@ -216,22 +220,9 @@ AgvNavigationStatus Src1100Agv::navigationStatus() const
     return status;
 }
 
-AgvResult Src1100Agv::connect(const AgvConnectionOptions& options)
+AgvResult Src1100Agv::connect_()
 {
     std::lock_guard<std::mutex> lock(mutex_);
-    if (!options.ip.empty()) {
-        ip_ = options.ip;
-    }
-    if (options.port > 0) {
-        ports_.control = options.port;
-    }
-    ports_.status = optionalInt_(options.adapter_params, "port_status", ports_.status);
-    ports_.control = optionalInt_(options.adapter_params, "port_control", ports_.control);
-    ports_.navigation = optionalInt_(options.adapter_params, "port_nav", ports_.navigation);
-    ports_.config = optionalInt_(options.adapter_params, "port_config", ports_.config);
-    ports_.other = optionalInt_(options.adapter_params, "port_other", ports_.other);
-    ports_.push = optionalInt_(options.adapter_params, "port_push", ports_.push);
-
     closeSocket_(sock_status_);
     closeSocket_(sock_control_);
     closeSocket_(sock_navigation_);
@@ -243,14 +234,36 @@ AgvResult Src1100Agv::connect(const AgvConnectionOptions& options)
         return AgvResult::failure(AgvErrorCode::InvalidArgument, "SRC1100 AGV ip is empty");
     }
 
-    if (auto result = connectSocket_(sock_status_, ports_.status); !result.ok()) return result;
+    const auto close_all = [this]() {
-    if (auto result = connectSocket_(sock_control_, ports_.control); !result.ok()) return result;
+        closeSocket_(sock_status_);
-    if (auto result = connectSocket_(sock_navigation_, ports_.navigation); !result.ok()) return result;
+        closeSocket_(sock_control_);
-    if (auto result = connectSocket_(sock_config_, ports_.config); !result.ok()) return result;
+        closeSocket_(sock_navigation_);
+        closeSocket_(sock_config_);
+        closeSocket_(sock_other_);
+        closeSocket_(sock_push_);
+    };
+
+    if (auto result = connectSocket_(sock_status_, ports_.status); !result.ok()) {
+        close_all();
+        return result;
+    }
+    if (auto result = connectSocket_(sock_control_, ports_.control); !result.ok()) {
+        close_all();
+        return result;
+    }
+    if (auto result = connectSocket_(sock_navigation_, ports_.navigation); !result.ok()) {
+        close_all();
+        return result;
+    }
+    if (auto result = connectSocket_(sock_config_, ports_.config); !result.ok()) {
+        close_all();
+        return result;
+    }
+    last_error_.clear();
     return AgvResult::success();
 }
 
-AgvResult Src1100Agv::disconnect()
+AgvResult Src1100Agv::disconnect_()
 {
     std::lock_guard<std::mutex> lock(mutex_);
     closeSocket_(sock_status_);

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

@@ -18,12 +18,6 @@ public:
     grpc::Status getNavigationStatus(grpc::ServerContext* context,
                                      const api::AgvNavigationStatusCommand_Request* request,
                                      api::AgvNavigationStatusCommand_Feedback* response) override;
-    grpc::Status connect(grpc::ServerContext* context,
-                         const api::AgvConnectCommand_Request* request,
-                         api::AgvConnectCommand_Feedback* response) override;
-    grpc::Status disconnect(grpc::ServerContext* context,
-                            const api::CommandHeader_Request* request,
-                            api::CommandHeader_Feedback* response) override;
     grpc::Status emergencyStop(grpc::ServerContext* context,
                                const api::CommandHeader_Request* request,
                                api::CommandHeader_Feedback* response) override;

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

@@ -66,15 +66,6 @@ device::AgvAdapterParams toAdapterParams(const msgs::AgvAdapterParams& src)
     return dst;
 }
 
-device::AgvConnectionOptions toConnectionOptions(const api::AgvConnectCommand_Request& src)
-{
-    device::AgvConnectionOptions dst;
-    dst.ip = src.ip();
-    dst.port = src.port();
-    dst.adapter_params = toAdapterParams(src.adapter_params());
-    return dst;
-}
-
 device::AgvMotionOptions toMotionOptions(const msgs::AgvMotionOptions& src)
 {
     device::AgvMotionOptions dst;
@@ -208,39 +199,6 @@ grpc::Status gRPCAgvServiceImpl::getNavigationStatus(grpc::ServerContext*,
     }
 }
 
-grpc::Status gRPCAgvServiceImpl::connect(grpc::ServerContext*,
-                                         const api::AgvConnectCommand_Request* request,
-                                         api::AgvConnectCommand_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->connect(toConnectionOptions(*request)));
-    } catch (const std::exception& e) {
-        fillFeedback(response->mutable_header(), false, e.what());
-        return grpc::Status(grpc::StatusCode::INTERNAL, e.what());
-    }
-}
-
-grpc::Status gRPCAgvServiceImpl::disconnect(grpc::ServerContext*,
-                                            const api::CommandHeader_Request* request,
-                                            api::CommandHeader_Feedback* response)
-{
-    try {
-        auto agv = dmgr_.getDevice<device::AbstractAGV>(request->device_id());
-        if (!agv) {
-            return setDeviceNotFound(response, request->device_id());
-        }
-        return setResponseResult(response, agv->disconnect());
-    } catch (const std::exception& e) {
-        fillFeedback(response, false, e.what());
-        return grpc::Status(grpc::StatusCode::INTERNAL, e.what());
-    }
-}
-
 grpc::Status gRPCAgvServiceImpl::emergencyStop(grpc::ServerContext*,
                                                const api::CommandHeader_Request* request,
                                                api::CommandHeader_Feedback* response)

protos/cmvr/api/agv_command.proto

@@ -25,18 +25,6 @@ message AgvNavigationStatusCommand {
   }
 }
 
-message AgvConnectCommand {
-  message Request {
-    CommandHeader.Request header = 1;
-    string ip = 2;
-    int32 port = 3;
-    cmvr.msgs.AgvAdapterParams adapter_params = 4;
-  }
-  message Feedback {
-    CommandHeader.Feedback header = 1;
-  }
-}
-
 message AgvNavigateToPoseCommand {
   message Request {
     CommandHeader.Request header = 1;

protos/cmvr/api/agv_service.proto

@@ -8,8 +8,6 @@ import "cmvr/api/agv_command.proto";
 service AgvService {
   rpc getRuntimeState(AgvRuntimeStateCommand.Request) returns (AgvRuntimeStateCommand.Feedback);
   rpc getNavigationStatus(AgvNavigationStatusCommand.Request) returns (AgvNavigationStatusCommand.Feedback);
-  rpc connect(AgvConnectCommand.Request) returns (AgvConnectCommand.Feedback);
-  rpc disconnect(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc emergencyStop(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc navigateToPose(AgvNavigateToPoseCommand.Request) returns (AgvNavigateToPoseCommand.Feedback);