refactor: 按机器人动态解析gRPC端点与设备

server/audioWebSocket.js

@@ -23,7 +23,7 @@ function waitForGrpcReady(client, timeoutMs = 5000) {
   })
 }
 
-export function attachAudioWebSocket(httpServer) {
+export function attachAudioWebSocket(httpServer, { resolveRobotAddress, resolveRobotDeviceId } = {}) {
   const wss = new WebSocketServer({ server: httpServer, path: '/audio' })
 
   wss.on('connection', (socket) => {
@@ -101,14 +101,27 @@ export function attachAudioWebSocket(httpServer) {
       }
       if (message.type !== 'init' || initialized) return
 
-      const { microphoneId, robotAddress } = message
+      const { robotId } = message
-      speakerId = message.speakerId?.trim()
+      if (typeof robotId !== 'string' || !robotId.trim()) {
-      if (![microphoneId, speakerId, robotAddress].every((value) => typeof value === 'string' && value.trim())) {
         sendJson(socket, { type: 'error', message: '机器人地址、麦克风 ID 和扬声器 ID 不能为空' })
         socket.close(1008, 'invalid init')
         return
       }
 
+      const robotAddress = resolveRobotAddress?.(robotId.trim())
+      if (!robotAddress) {
+        sendJson(socket, { type: 'error', message: `机器人 ${robotId} 不在线或尚未注册` })
+        socket.close(1008, 'robot unavailable')
+        return
+      }
+      const microphoneId = resolveRobotDeviceId?.(robotId.trim(), 'microphone')
+      speakerId = resolveRobotDeviceId?.(robotId.trim(), 'speaker')
+      if (!microphoneId || !speakerId) {
+        sendJson(socket, { type: 'error', message: `机器人 ${robotId} 缺少麦克风或扬声器设备` })
+        socket.close(1008, 'audio device unavailable')
+        return
+      }
+
       initialized = true
       microphoneClient = createMicrophoneGrpcClient(robotAddress.trim())
       speakerClient = createSpeakerGrpcClient(robotAddress.trim())

server/cameraVideoStream.js

@@ -84,14 +84,9 @@ function message(error) {
 }
 
 export function streamCameraVideo(req, res) {
-  const ip = typeof req.query.ip === 'string' ? req.query.ip.trim() : ''
+  const deviceId = req.deviceId
-  const deviceId = typeof req.query.deviceId === 'string' ? req.query.deviceId.trim() : ''
-  if (!ip || !deviceId) {
-    res.status(400).json({ code: 400, message: 'ip 和 deviceId 不能为空' })
-    return
-  }
 
-  const client = createCameraGrpcClient(ip)
+  const client = createCameraGrpcClient(req.robotAddress)
   const grpcStream = client.getRgbImageStream()
   let transcoder
   let closed = false

server/index.js

@@ -17,7 +17,7 @@ import {
 import { attachAudioWebSocket } from './audioWebSocket.js';
 import { streamCameraVideo } from './cameraVideoStream.js';
 import { startQuicServer } from './quicServer.js';
-import { consumeQuicEvent, listRobots } from './robotRegistry.js';
+import { consumeQuicEvent, getRobotAddress, getRobotDeviceId, listRobots } from './robotRegistry.js';
 
 const app = express()
 app.use(express.static(path.join(__dirname, '../dist')));
@@ -28,19 +28,49 @@ app.get('/api/quic/robots', (req, res) => {
   res.json({ code: 200, data: listRobots() })
 })
 
+app.use('/api', (req, res, next) => {
+  const robotId = String(req.body?.robotId || req.query?.robotId || '').trim()
+  if (!robotId) {
+    res.status(400).json({ code: 400, message: 'robotId 不能为空' })
+    return
+  }
+  const address = getRobotAddress(robotId)
+  if (!address) {
+    res.status(404).json({ code: 404, message: `机器人 ${robotId} 不在线或尚未注册` })
+    return
+  }
+  req.robotId = robotId
+  req.robotAddress = address
+  next()
+})
+
+app.use('/api', (req, res, next) => {
+  let kind = ''
+  if (req.path.startsWith('/agv/')) kind = 'agv'
+  else if (req.path.startsWith('/arm/')) kind = 'arm'
+  else if (req.path.startsWith('/audio/microphone/')) kind = 'microphone'
+  else if (req.path.startsWith('/audio/speaker/')) kind = 'speaker'
+  else if (req.path.startsWith('/camera/')) kind = 'camera'
+  if (!kind) return next()
+
+  const deviceId = getRobotDeviceId(req.robotId, kind)
+  if (!deviceId) {
+    res.status(404).json({ code: 404, message: `机器人 ${req.robotId} 没有可用的 ${kind} 设备` })
+    return
+  }
+  req.deviceId = deviceId
+  next()
+})
+
 // 将相机逐帧 gRPC 数据转码为浏览器可直接播放的 fragmented MP4。
-// 示例：/api/camera/video?ip=192.168.0.28%3A50052&deviceId=camera1
+// 示例：/api/camera/video?robotId=robot-1
 app.get('/api/camera/video', streamCameraVideo)
 
 // 获取机器人麦克风音量（0-100）。
 app.post('/api/audio/microphone/volume/get', (req, res) => {
-  const { ip, deviceId } = req.body
+  const deviceId = req.deviceId
-  if (!ip || !deviceId) {
-    res.status(400).json({ code: 400, message: '机器人地址和麦克风设备 ID 不能为空' })
-    return
-  }
 
-  const grpcClient = createMicrophoneGrpcClient(ip)
+  const grpcClient = createMicrophoneGrpcClient(req.robotAddress)
   grpcClient.getVolume(
     { header: { device_id: deviceId } },
     { deadline: Date.now() + 5000 },
@@ -65,18 +95,14 @@ app.post('/api/audio/microphone/volume/get', (req, res) => {
 
 // 设置机器人麦克风音量（0-100）。
 app.post('/api/audio/microphone/volume/set', (req, res) => {
-  const { ip, deviceId } = req.body
+  const deviceId = req.deviceId
   const volume = Number(req.body.volume)
-  if (!ip || !deviceId) {
-    res.status(400).json({ code: 400, message: '机器人地址和麦克风设备 ID 不能为空' })
-    return
-  }
   if (!Number.isInteger(volume) || volume < 0 || volume > 100) {
     res.status(400).json({ code: 400, message: '音量必须是 0 到 100 的整数' })
     return
   }
 
-  const grpcClient = createMicrophoneGrpcClient(ip)
+  const grpcClient = createMicrophoneGrpcClient(req.robotAddress)
   grpcClient.setVolume({
     header: { device_id: deviceId },
     volume
@@ -100,13 +126,9 @@ app.post('/api/audio/microphone/volume/set', (req, res) => {
 
 // 获取机器人扬声器音量（0-100）。
 app.post('/api/audio/speaker/volume/get', (req, res) => {
-  const { ip, deviceId } = req.body
+  const deviceId = req.deviceId
-  if (!ip || !deviceId) {
-    res.status(400).json({ code: 400, message: '机器人地址和扬声器设备 ID 不能为空' })
-    return
-  }
 
-  const grpcClient = createSpeakerGrpcClient(ip)
+  const grpcClient = createSpeakerGrpcClient(req.robotAddress)
   grpcClient.getVolume(
     { header: { device_id: deviceId } },
     { deadline: Date.now() + 5000 },
@@ -131,18 +153,14 @@ app.post('/api/audio/speaker/volume/get', (req, res) => {
 
 // 设置机器人扬声器音量（0-100）。
 app.post('/api/audio/speaker/volume/set', (req, res) => {
-  const { ip, deviceId } = req.body
+  const deviceId = req.deviceId
   const volume = Number(req.body.volume)
-  if (!ip || !deviceId) {
-    res.status(400).json({ code: 400, message: '机器人地址和扬声器设备 ID 不能为空' })
-    return
-  }
   if (!Number.isInteger(volume) || volume < 0 || volume > 100) {
     res.status(400).json({ code: 400, message: '音量必须是 0 到 100 的整数' })
     return
   }
 
-  const grpcClient = createSpeakerGrpcClient(ip)
+  const grpcClient = createSpeakerGrpcClient(req.robotAddress)
   grpcClient.setVolume({
     header: { device_id: deviceId },
     volume
@@ -168,11 +186,11 @@ app.post('/api/audio/speaker/volume/set', (req, res) => {
 app.post('/api/agv/getRuntimeState', async (req, res) => {
   const request = {
     header: {
-      device_id: req.body.deviceId || 'agv_src1100'
+      device_id: req.deviceId
     }
   };
 
-  const grpcClient = createAGVGrpcClient(req.body.ip)
+  const grpcClient = createAGVGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.getRuntimeState(request, (err, res) => {
@@ -199,10 +217,10 @@ app.post('/api/agv/getRuntimeState', async (req, res) => {
 
 // 获取机器人当前地图
 app.post('/api/agv/getCurrentMap', async (req, res) => {
-  const grpcClient = createAGVGrpcClient(req.body.ip)
+  const grpcClient = createAGVGrpcClient(req.robotAddress)
   const request = {
     header: {
-      device_id: req.body.deviceId || 'agv_src1100'
+      device_id: req.deviceId
     },
     map_name: req.body.mapName
   };
@@ -232,10 +250,10 @@ app.post('/api/agv/getCurrentMap', async (req, res) => {
 
 // 机器人运动控制
 app.post('/api/agv/moveRobot', async (req, res) => {
-  const grpcClient = createAGVGrpcClient(req.body.ip)
+  const grpcClient = createAGVGrpcClient(req.robotAddress)
   const request = {
     header: {
-      device_id: req.body.deviceId || 'agv_src1100'
+      device_id: req.deviceId
     },
     velocity: {
       vx: req.body.vx,
@@ -272,10 +290,10 @@ app.post('/api/agv/moveRobot', async (req, res) => {
 
 // 机器人停止运动
 app.post('/api/agv/stopRobot', async (req, res) => {
-  const grpcClient = createAGVGrpcClient(req.body.ip)
+  const grpcClient = createAGVGrpcClient(req.robotAddress)
   const request = {
     header: {
-      device_id: req.body.deviceId || 'agv_src1100'
+      device_id: req.deviceId
     }
   };
 
@@ -312,11 +330,11 @@ app.post('/api/agv/stopRobot', async (req, res) => {
 app.post('/api/arm/getPose', async (req, res) => {
   const request = {
     header: {
-      device_id: req.body.deviceId || 'huayan_arm'
+      device_id: req.deviceId
     }
   };
 
-  const grpcClient = createARMGrpcClient(req.body.ip)
+  const grpcClient = createARMGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.getPose(request, (err, res) => {
@@ -345,11 +363,11 @@ app.post('/api/arm/getPose', async (req, res) => {
 app.post('/api/arm/getJointState', async (req, res) => {
   const request = {
     header: {
-      device_id: req.body.deviceId || 'huayan_arm'
+      device_id: req.deviceId
     }
   };
 
-  const grpcClient = createARMGrpcClient(req.body.ip)
+  const grpcClient = createARMGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.getJointState(request, (err, res) => {
@@ -378,7 +396,7 @@ app.post('/api/arm/getJointState', async (req, res) => {
 app.post('/api/arm/speedJ', async (req, res) => {
   const request = {
     header: {
-      device_id: req.body.deviceId || 'huayan_arm'
+      device_id: req.deviceId
     },
     velocity: {
       velocity: req.body.velocities
@@ -386,7 +404,7 @@ app.post('/api/arm/speedJ', async (req, res) => {
     acceleration: req.body.acceleration,
     duration: req.body.duration
   };
-  const grpcClient = createARMGrpcClient(req.body.ip)
+  const grpcClient = createARMGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.speedJ(request, (err, res) => {
@@ -414,13 +432,13 @@ app.post('/api/arm/speedJ', async (req, res) => {
 app.post('/api/arm/speedL', async (req, res) => {
   const request = {
     header: {
-      device_id: req.body.deviceId || 'huayan_arm'
+      device_id: req.deviceId
     },
     velocity: req.body.velocity,
     acceleration: req.body.acceleration,
     duration: req.body.duration
   };
-  const grpcClient = createARMGrpcClient(req.body.ip)
+  const grpcClient = createARMGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.speedL(request, (err, res) => {
@@ -449,10 +467,10 @@ app.post('/api/arm/speedL', async (req, res) => {
 app.post('/api/arm/stopMotion', async (req, res) => {
   const request = {
     // header: {
-      device_id: req.body.deviceId || 'huayan_arm',
+      device_id: req.deviceId,
     // },
   };
-  const grpcClient = createARMGrpcClient(req.body.ip)
+  const grpcClient = createARMGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.stopMotion(request, (err, res) => {
@@ -479,9 +497,9 @@ app.post('/api/arm/stopMotion', async (req, res) => {
 
 app.post('/api/arm/torqueOn', async (req, res) => {
   const request = {
-    device_id: req.body.deviceId || 'huayan_arm',
+    device_id: req.deviceId,
   };
-  const grpcClient = createARMGrpcClient(req.body.ip)
+  const grpcClient = createARMGrpcClient(req.robotAddress)
 
   const resp = await new Promise((resolve, reject) => {
     grpcClient.torqueOn(request, (err, res) => {
@@ -551,7 +569,10 @@ if (httpsEnabled) {
   httpServer = http.createServer(app);
 }
 
-attachAudioWebSocket(httpServer)
+attachAudioWebSocket(httpServer, {
+  resolveRobotAddress: getRobotAddress,
+  resolveRobotDeviceId: getRobotDeviceId
+})
 startQuicServer({ onEvent: consumeQuicEvent })
 
 httpServer.listen(PORT, '0.0.0.0', () => {

server/robotRegistry.js

@@ -82,3 +82,12 @@ export function listRobots() {
   return [...robots.values()].sort((a, b) => a.robotId.localeCompare(b.robotId))
 }
 
+export function getRobotAddress(robotId) {
+  if (!robotId) return ''
+  return robots.get(robotId)?.ip || ''
+}
+
+export function getRobotDeviceId(robotId, kind) {
+  const devices = robots.get(robotId)?.devices?.[kind] || []
+  return (devices.find(device => device.enabled) || devices[0])?.deviceId || ''
+}

src/api/agv.js

@@ -3,7 +3,7 @@ import request from '@/utils/request'
 /**
  * 机器人前往目标站点
  * @param {Object} params
- * @param {string} [params.deviceId]  - 设备ID，默认 agv_src1100
+ * robotId 由统一请求层从 Pinia 自动附加，设备 ID 由后端注册表解析。
  */
 export function getRuntimeState(params) {
     return request('/api/agv/getRuntimeState', params, 'POST')
@@ -23,4 +23,4 @@ export function moveRobot(params) {
 
 export function stopRobot(params) {
     return request('/api/agv/stopRobot', params, 'POST')
-}
+}

src/stores/robot.js

@@ -3,13 +3,8 @@ import { defineStore } from 'pinia'
 // 唯一id：robot
 export const useRobotStore = defineStore('robot', {
   state: () => ({
-    ip: '192.168.0.28:50052',
+    robotId: '',
     robotType: 'inspection',
-    agvDeviceId:'src1100',
-    almDeviceId: 'huayan_arm',
-    spkDeviceId: 'spk1',
-    micDeviceId: 'mic1',
-    cameraDeviceId: 'real_cam1',
     position: { x: 0, y: 0, theta: 0 },
     battery: {
       percentage: 0.99,
@@ -30,27 +25,12 @@ export const useRobotStore = defineStore('robot', {
     }
   },
   actions: {
-    setIp(str) {
+    setRobotId(str) {
-        this.ip = str
+        this.robotId = str
     },
     setRobotType(str) {
         this.robotType = str
     },
-    setAgvDeviceId(str) {
-        this.agvDeviceId = str
-    },
-    setAlmDeviceId(str) {
-        this.almDeviceId = str
-    },
-    setSpkDeviceId(str) {
-        this.spkDeviceId = str
-    },
-    setMicDeviceId(str) {
-        this.micDeviceId = str
-    },
-    setCameraDeviceId(str) {
-        this.cameraDeviceId = str
-    },
     // 更新机器人位置
     setPosition(data = {}) {
       this.position = data

src/utils/request.js

@@ -1,4 +1,5 @@
 import { ElMessage } from 'element-plus'
+import { useRobotStore } from '@/stores/robot'
 
 const request = async (url, params = {}, method = 'GET', headers = { 'Content-Type': 'application/json' }) => {
   const controller = new AbortController()
@@ -9,13 +10,15 @@ const request = async (url, params = {}, method = 'GET', headers = { 'Content-Ty
   }, 5000)
 
   try {
+    const robotId = useRobotStore().robotId
+    const requestParams = robotId && !params.robotId ? { ...params, robotId } : params
     const options = {
       method,
       headers,
       signal
     }
     if (!['GET', 'HEAD'].includes(method.toUpperCase())) {
-      options.body = JSON.stringify(params)
+      options.body = JSON.stringify(requestParams)
     }
     const res = await fetch(url, options)
 

src/views/Address.vue

@@ -16,7 +16,7 @@
                         <el-option
                             v-for="robot in robots"
                             :key="robot.robotId"
-                            :label="`${robot.robotId}（${robot.ip}）`"
+                            :label="robot.robotId"
                             :value="robot.robotId"
                         />
                     </el-select>
@@ -28,30 +28,12 @@
                     <el-table-column prop="health" label="健康状态" width="190" />
                 </el-table>
                 <el-form ref="ruleFormRef"  :model="ruleForm" :rules="rules" label-width="auto">
-                    <el-form-item label="IP和端口" prop="ip">
-                        <el-input v-model="ruleForm.ip" placeholder="请输入IP和端口" />
-                    </el-form-item>
                     <el-form-item label="机器人类型" prop="robotType">
                         <el-select v-model="ruleForm.robotType" placeholder="请选择机器人类型">
                             <el-option label="巡检机器人" value="inspection"></el-option>
                             <el-option label="讲解机器人" value="explanation"></el-option>
                         </el-select>
                     </el-form-item>
-                    <!-- <el-form-item label="底盘设备ID" prop="agvDeviceId">
-                        <el-input v-model="ruleForm.agvDeviceId" placeholder="请输入底盘设备ID" />
-                    </el-form-item>
-                    <el-form-item label="机械臂设备ID" prop="almDeviceId">
-                        <el-input v-model="ruleForm.almDeviceId" placeholder="请输入机械臂设备ID" />
-                    </el-form-item>
-                    <el-form-item label="扬声器设备ID" prop="spkDeviceId">
-                        <el-input v-model="ruleForm.spkDeviceId" placeholder="请输入扬声器设备ID" />
-                    </el-form-item>
-                    <el-form-item label="麦克风设备ID" prop="micDeviceId">
-                        <el-input v-model="ruleForm.micDeviceId" placeholder="请输入麦克风设备ID" />
-                    </el-form-item>
-                    <el-form-item label="相机设备ID" prop="cameraDeviceId">
-                        <el-input v-model="ruleForm.cameraDeviceId" placeholder="请输入相机设备ID" />
-                    </el-form-item> -->
                 </el-form>
                 <el-button :loading="loading" @click="testConnect" class="connect">进入上位机控制页面</el-button>
             </div>
@@ -74,7 +56,7 @@ const robotStore = useRobotStore()
 const loading = ref(false)
 const robotListLoading = ref(false)
 const robots = ref([])
-const selectedRobotId = ref('')
+const selectedRobotId = ref(robotStore.robotId || '')
 const selectedRobot = computed(() => robots.value.find(robot => robot.robotId === selectedRobotId.value))
 const selectedDevices = computed(() => Object.entries(selectedRobot.value?.devices || {}).flatMap(
     ([kind, devices]) => devices.map(device => ({ kind, ...device }))
@@ -82,51 +64,19 @@ const selectedDevices = computed(() => Object.entries(selectedRobot.value?.devic
 let refreshTimer
 const ruleFormRef = ref()
 const ruleForm = ref({
-    ip: '',
     robotType: 'inspection',
-    // agvDeviceId:'src1100',
-    // almDeviceId: 'huayan_arm',
-    // spkDeviceId: 'spk1',
-    // micDeviceId: 'mic1',
-    // cameraDeviceId: 'real_cam1'
 })
 
 const rules = ref({
-    ip: [
-        { required: true, message: '请输入机器人IP和端口', trigger: 'blur' }
-    ],
     robotType: [
         { required: true, message: '请选择机器人类型', trigger: 'blur' }
     ],
-    // agvDeviceId: [
-    //     { required: true, message: '请输入底盘设备ID', trigger: 'blur' }
-    // ],
-    // almDeviceId: [
-    //     { required: true, message: '请输入机械臂设备ID', trigger: 'blur' }
-    // ],
-    // spkDeviceId: [
-    //     { required: true, message: '请输入扬声器设备ID', trigger: 'blur' }
-    // ],
-    // micDeviceId: [
-    //     { required: true, message: '请输入麦克风设备ID', trigger: 'blur' }
-    // ],
-    // cameraDeviceId: [
-    //     { required: true, message: '请输入相机设备ID', trigger: 'blur' }
-    // ],
 })
 
-const firstDeviceId = (robot, kind, fallback) => robot?.devices?.[kind]?.[0]?.deviceId || fallback
-
 const selectRobot = () => {
     const robot = selectedRobot.value
     if (!robot) return
-    ruleForm.value.ip = robot.ip
+    robotStore.setRobotId(robot.robotId)
-    robotStore.setIp(robot.ip)
-    robotStore.setAgvDeviceId(firstDeviceId(robot, 'agv', 'src1100'))
-    robotStore.setAlmDeviceId(firstDeviceId(robot, 'arm', 'huayan_arm'))
-    robotStore.setSpkDeviceId(firstDeviceId(robot, 'speaker', 'spk1'))
-    robotStore.setMicDeviceId(firstDeviceId(robot, 'microphone', 'mic1'))
-    robotStore.setCameraDeviceId(firstDeviceId(robot, 'camera', 'real_cam1'))
 }
 
 const loadRobots = async () => {
@@ -147,32 +97,19 @@ onMounted(() => {
 onUnmounted(() => clearInterval(refreshTimer))
 
 const testConnect = async () => {
+    if (!selectedRobot.value) {
+        ElMessage.warning('请先选择已连接机器人')
+        return
+    }
     const valid = await ruleFormRef.value.validate();
     if (valid) {
         loading.value = true
-        robotStore.setIp(ruleForm.value.ip)
+        robotStore.setRobotId(selectedRobot.value.robotId)
         robotStore.setRobotType(ruleForm.value.robotType)
-        if (selectedRobot.value) {
+        selectRobot()
-            selectRobot()
-        } else if (ruleForm.value.robotType === 'inspection') {
-            robotStore.setAgvDeviceId('src1100')
-            robotStore.setAlmDeviceId('huayan_arm')
-            robotStore.setSpkDeviceId('spk1')
-            robotStore.setMicDeviceId('mic1')
-            robotStore.setCameraDeviceId('real_cam1')
-        } else if (ruleForm.value.robotType === 'explanation') {
-            robotStore.setAgvDeviceId('src1100')
-            robotStore.setAlmDeviceId('huayan_arm')
-            robotStore.setSpkDeviceId('spk1')
-            robotStore.setMicDeviceId('mic1')
-            robotStore.setCameraDeviceId('real_cam1')
-        }
         
         try {
-            const result = await getRuntimeState({
+            const result = await getRuntimeState()
-                ip: robotStore.ip,
-                deviceId: robotStore.agvDeviceId
-            })
             loading.value = false
             if (result.code === 200) {
                 robotStore.setPosition(result.data.pose)

src/views/arm/MechanicalArm.vue

@@ -303,7 +303,6 @@ import { Remove, CirclePlus } from '@element-plus/icons-vue'
 import { useRobotStore } from '@/stores/robot'
 
 const robotStore = useRobotStore()
-const deviceId = robotStore.almDeviceId
 
 const urdfViewerRef = ref()
 
@@ -343,17 +342,11 @@ const tcp = ref({
 })
 
 const torqueOn = async () => {
-  await torqueOnApi({
+  await torqueOnApi()
-    ip: robotStore.ip,
-    deviceId: deviceId
-  })
 }
 
 const getPose = async () => {
-  const res = await getPoseApi({
+  const res = await getPoseApi()
-    ip: robotStore.ip,
-    deviceId: deviceId
-  })
   if (res.code === 200) {
     const { x, y, z, rx, ry, rz } = res.data
     tcp.value = { x, y, z, rx, ry, rz }
@@ -375,10 +368,7 @@ const jointNamsMap = {
  */
 const getJointState = async (robot) => {
   try {
-    const res = await getJointStateApi({
+    const res = await getJointStateApi()
-      deviceId: deviceId,
-      ip: robotStore.ip,
-    })
     if (res.code === 200) {
       setTimeout(() => {
         const names = res.data.name
@@ -404,8 +394,6 @@ const updateJoint = async (jointName, _dir) => {
   const index = jointControls.value.findIndex(joint => joint.name === jointName)
   velocities[index] = jointSpeed.value * (_dir === '+' ? 1 : -1)
   const res = await speedJApi({
-    deviceId: deviceId,
-    ip: robotStore.ip,
     acceleration: jointSpeed.value * (_dir === '+' ? 1 : -1) + 0.1,
     duration: 60,
     velocities: velocities
@@ -475,8 +463,6 @@ const move = async (axis, direction, type) => {
   }
 
   speedLApi({
-    deviceId: deviceId,
-    ip: robotStore.ip,
     duration: 60,
     acceleration: type === 'posture' ? postureSpeed.value + 0.1 : endSpeed.value + 0.1,
     velocity: {
@@ -489,10 +475,7 @@ const move = async (axis, direction, type) => {
  * 停止机械臂移动
  */
 const stop = async () => {
-  await stopMotionApi({
+  await stopMotionApi()
-    deviceId: deviceId,
-    ip: robotStore.ip
-  })
 }
 
 const activePointerIds = new Set()

src/views/camera/VoiceConversation.vue

@@ -151,14 +151,11 @@ const statusMeta = computed(() => {
 })
 
 function microphoneVolumeRequestParams() {
-  return {
+  return {}
-    ip: robotStore.ip,
-    deviceId: robotStore.micDeviceId
-  }
 }
 
 async function loadMicrophoneVolume({ silent = false } = {}) {
-  if (!robotStore.ip || !robotStore.micDeviceId) return
+  if (!robotStore.robotId) return
   isMicrophoneVolumeLoading.value = true
   try {
     const response = await getMicrophoneVolume(microphoneVolumeRequestParams())
@@ -194,14 +191,11 @@ async function updateMicrophoneVolume(volume) {
 }
 
 function speakerVolumeRequestParams() {
-  return {
+  return {}
-    ip: robotStore.ip,
-    deviceId: robotStore.spkDeviceId
-  }
 }
 
 async function loadSpeakerVolume({ silent = false } = {}) {
-  if (!robotStore.ip || !robotStore.spkDeviceId) return
+  if (!robotStore.robotId) return
   isSpeakerVolumeLoading.value = true
   try {
     const response = await getSpeakerVolume(speakerVolumeRequestParams())
@@ -391,9 +385,7 @@ function connectAudioServer(sessionToken) {
     const timeout = window.setTimeout(() => reject(new Error('连接音频服务超时')), JOIN_TIMEOUT)
     socket.onopen = () => sendControlMessage({
       type: 'init',
-      microphoneId: robotStore.micDeviceId,
+      robotId: robotStore.robotId
-      speakerId: robotStore.spkDeviceId,
-      robotAddress: robotStore.ip
     })
     socket.onmessage = (event) => {
       if (typeof event.data !== 'string') {
@@ -455,7 +447,7 @@ async function startCall() {
   errorMessage.value = ''
   const sessionToken = ++callSessionId
   try {
-    if (!robotStore.ip || !robotStore.micDeviceId || !robotStore.spkDeviceId) {
+    if (!robotStore.robotId) {
       throw new Error('请先配置机器人地址、麦克风 ID 和扬声器 ID')
     }
     // 必须在按钮点击的用户手势中创建，以符合浏览器自动播放策略。

src/views/camera/index.vue

@@ -14,20 +14,10 @@ import VoiceConversation from './VoiceConversation.vue';
 import { computed } from 'vue';
 import { useRobotStore } from '@/stores/robot';
 
-const VIDEO_SERVER_HOST = import.meta.env.VITE_VIDEO_SERVER_HOST || 'http://localhost:8080/'
-const TerminalId = import.meta.env.VITE_TERMINAL_ID || 'c2f8a06826baf03843925c1a2a13bcfd'
-
 const robotStore = useRobotStore()
-const videoUrl = `${VIDEO_SERVER_HOST}/api/edge/camera/rgb-stream/public?terminalId=${TerminalId}&deviceId=${robotStore.cameraDeviceId}`
+const videoUrl = computed(() => robotStore.robotId
-
+    ? `/api/camera/video?robotId=${encodeURIComponent(robotStore.robotId)}`
-// const videoUrl = computed(() => {
+    : '')
-//     if (!robotStore.ip || !robotStore.cameraDeviceId) return ''
-//     const params = new URLSearchParams({
-//         ip: robotStore.ip,
-//         deviceId: robotStore.cameraDeviceId
-//     })
-//     return `/api/camera/video?${params}`
-// })
 </script>
 <style lang="scss" scoped>
 .page-container {

src/views/chassis/Chassis.vue

@@ -194,8 +194,6 @@ const run = async (data) => {
         return
     }
     const res = await moveRobot({
-        ip: robotStore.ip,
-        deviceId: robotStore.agvDeviceId,
         ...data
     })
     if (res.code === 200) {
@@ -210,8 +208,7 @@ function onRelease() {
     moveRobotData.value.vx = 0;
     moveRobotData.value.vy = 0;
     // stopRobot({
-    //     ip: robotStore.ip,
+    //     robotId: robotStore.robotId,
-    //     deviceId: robotStore.agvDeviceId,
     // })
 }
 

src/views/chassis/MapCanvas.vue

@@ -487,8 +487,6 @@ const loadSourceMap = async (mapName) => {
     resizeCanvasToContainer()
 
     const res = await getCurrentMap({
-        ip: robotStore.ip,
-        deviceId: robotStore.agvDeviceId,
         mapName: mapName
     })
     if (res.code === 200) {
@@ -540,7 +538,7 @@ watch(() => props.mapName,
     async (newVal) => {
         if (newVal) {
             await loadSourceMap(newVal)
-            addRobot(robotStore.ip, robotStore.ip, robotStore.position.x, robotStore.position.y, robotStore.position.theta, getThemeColor('--color-canvas-robot'))
+            addRobot(robotStore.robotId, robotStore.robotId, robotStore.position.x, robotStore.position.y, robotStore.position.theta, getThemeColor('--color-canvas-robot'))
             startRendering()
         }
     }, {