feat: 根据机械臂的数量来判断机器人的类型

.gitignore

@@ -22,3 +22,10 @@ dist-ssr
 *.njsproj
 *.sln
 *.sw?
+
+# Python runtime artifacts and local TLS private material
+__pycache__/
+*.py[cod]
+server/certs/*.key
+server/certs/*.csr
+server/certs/*.srl

components.d.ts

@@ -13,8 +13,6 @@ declare module 'vue' {
   export interface GlobalComponents {
     ElButton: typeof import('element-plus/es')['ElButton']
     ElContainer: typeof import('element-plus/es')['ElContainer']
-    ElForm: typeof import('element-plus/es')['ElForm']
-    ElFormItem: typeof import('element-plus/es')['ElFormItem']
     ElHeader: typeof import('element-plus/es')['ElHeader']
     ElIcon: typeof import('element-plus/es')['ElIcon']
     ElInput: typeof import('element-plus/es')['ElInput']
@@ -24,6 +22,8 @@ declare module 'vue' {
     ElRadioGroup: typeof import('element-plus/es')['ElRadioGroup']
     ElSelect: typeof import('element-plus/es')['ElSelect']
     ElSlider: typeof import('element-plus/es')['ElSlider']
+    ElTable: typeof import('element-plus/es')['ElTable']
+    ElTableColumn: typeof import('element-plus/es')['ElTableColumn']
     ElTag: typeof import('element-plus/es')['ElTag']
     IPlayer: typeof import('./src/components/IPlayer/index.vue')['default']
     LandscapeGuard: typeof import('./src/components/LandscapeGuard.vue')['default']

package.json

@@ -7,6 +7,7 @@
     "dev": "concurrently \"npm run dev:server\" \"npm run dev:client\"",
     "dev:client": "vite",
     "dev:server": "node server/index.js",
+    "quic:server": "py -3 server/quic/server.py",
     "start": "cross-env NODE_ENV=production node server/index.js",
     "build": "vite build",
     "preview": "npm run build && cross-env NODE_ENV=production node server/index.js"

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/certs/cmvr-quic-ca.crt

@@ -0,0 +1,25 @@
+-----BEGIN CERTIFICATE-----
+MIIEKzCCApOgAwIBAgIUTtZCyKM8INYxZKkfwbKdpHKLjn4wDQYJKoZIhvcNAQEL
+BQAwHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENBMB4XDTI2MDcyNDA2NDQy
+MFoXDTM2MDcyMTA2NDQyMFowHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENB
+MIIBojANBgkqhkiG9w0BAQEFAAOCAY8AMIIBigKCAYEAmq2rHldOobaemqNfWggS
+OVj3inKy6AYjfgtcXUfKs48DDbpZ9gyEd/YPJXA8C2jGPXpxzgnc7a4UCUVQZ8ah
+ddoJtFcC+Q6BgjeMVqUdUubu5Y9HpkfU3lvnp4KhzvOeFnkKtrCzYIPa2nK3zLc7
+uCiuLlB+91KQSRXPFbc6N7H/EAfGmUHIwlZGysAkRN7b2TAoR4C7E96JLVtuUQsS
+VtlEGpunSfuefFzeeZCMS6avLbB+a8Q6yUzLt6pqnheNsDB+jCCXodlJs5XS1AOB
+W2GOpGFMj7dLoTD+eBIlAlrhWFcwKjzFmtp6LGl/Jy0O+E99X4TL72oNSOdTrO2O
+iavXABz9IvWR2BrAyo5AKlTJqO6tmZw77iVti8jYi+HsXIVGQKMYwvv5k0jdHeIZ
+FaDToUbFPP/zj0m8ZraMy+8eNAhScnx6Zs56fcncBuDti6pT+zKisjV1rH/sFvZY
+wO1UvJlOEbvXrfYLPp58Aqe/toG2nV45a2Q4+x6AETV1AgMBAAGjYzBhMB0GA1Ud
+DgQWBBRdHz+g2vVmqghDZi2kEHtZfoyHZzAfBgNVHSMEGDAWgBRdHz+g2vVmqghD
+Zi2kEHtZfoyHZzAPBgNVHRMBAf8EBTADAQH/MA4GA1UdDwEB/wQEAwIBBjANBgkq
+hkiG9w0BAQsFAAOCAYEASuEoMFiVcg4iTMxO2kshFTJ6LIrqqGXBn+1j+yQ1ennG
+mqPMo5fBOe/Kp3YWCnREQWu0+EEPEC9qWgIDOIm3v7ch4mZiW31GUOqae6bjprBe
+er7ySElKGZ5GefKAq++we19A6WHnNxtNAT9BE1VSKUmkxEsnIkuwd+QMmQ9eaIRm
+8RvzshWdUcyiBJg07sI3rPzPD/YpnfcYlAa2a0+oXJ3o3zlhdbs2S+9fIl+Y/zFN
+wBaUV6ZNk0RFzOCA+jUq2jU5Y1pODcot3Mp2jCHzp4uTFyVqsoqc5USRB2TUILCP
+acSbEjD9GnKaNU4miTcftnC85fnBAiZ5btZkXIs72ij+J3VW7QnbcFQG8bElngoR
+mWizh6ByPQrsvyT0evJjdjpuOzILsVTAn64m0cYpnlR4g5orcEkIJHv4DzMhpXc2
+CvpcWwk2vJrUuws/LGxDATTAcqtIUIxAkxffqUsdB/6j8fdykNCvXFwNh/uPcawd
+4kzh6dr+RFzHSMQ6oN16
+-----END CERTIFICATE-----

server/certs/quic-gateway.crt

@@ -0,0 +1,23 @@
+-----BEGIN CERTIFICATE-----
+MIIDyzCCAjOgAwIBAgIUGtonFlB5GKMtTb45iJltgKRUrWkwDQYJKoZIhvcNAQEL
+BQAwHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENBMB4XDTI2MDgxNDA3NTMy
+NFoXDTI4MTExNjA3NTgyNFowGDEWMBQGA1UEAwwNMTkyLjE2OC4wLjE5OTCCASIw
+DQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAKdM3i1FYFKqNWJzhfhsD9nRUAuK
+pzilz5uqCKAt8lKYYC9WnLHOYdiEjcHGnGr02yd6sWFH/LBbxNhzx8M7h4S4izuO
+bhSlG1EIhkMiojzVD1e3P7YzXdEoVxTCfmMgBZQJG63GNOfzRawFYtEeGv7ndFVw
+kitCYlyTza5KlBNlWpiNOPmmx4dLTdGLUk8a5TUm0zJ+b/LyzVsWUtr9sxKmKeG8
+0/77AeiL0hQE3xUt5QROTZjRTVhNHowv410dFMJyIfY4sab8ndc4SIwE9PCKg068
+4705vbFInBS3eTvQur5VLSZLPatnXGKzCXjci1lIQX2p/QIqADMGFWIN9OECAwEA
+AaOBhzCBhDAPBgNVHREECDAGhwTAqADHMAwGA1UdEwEB/wQCMAAwDgYDVR0PAQH/
+BAQDAgeAMBMGA1UdJQQMMAoGCCsGAQUFBwMBMB0GA1UdDgQWBBS5qBLbIJcZt5l4
+eJfDhd9W7dmYZzAfBgNVHSMEGDAWgBRdHz+g2vVmqghDZi2kEHtZfoyHZzANBgkq
+hkiG9w0BAQsFAAOCAYEAMGmRoddVWo5THkH39R40niqfX3pN3pCx9ywDG6rSm7pO
+WYY8h91rWpecT40fxILVzdqYc6i7Ufinh1qQOnm/ExEUCPUEpMhn75W3lNhgUKmC
+wGjYRVvMZrnLjhamiChWZx9kvYrURe9JHwwevwxS6V69TRaF0J0OOFaQcRqFE9iP
+2/VdnmKk+OlbUdxBj3NarFWcqhMmxSoetWEQS5cTGzyrcZhnWPjgp8YNUhay7Lnx
+HrYjiU8YJJNX163pBvKp37QaIcbs/w6o2IlzCSx5xb7qcMboFGP9mH41bnbuoki2
+leWSoDyXS348wZcfkCwd1mNsnPsUFnDTq6gdzS1gbsps309ZmilnTdqQJUY8dmEf
+h4M6PoUikYLfKT+/kdqH8ywJ/Uycj3+I9xT8hiig+E9dywp+ExHMy8OzREMEXvt9
+KMLgNqGrqwtrU3OBBEnLEKrAJttNkuQZDUlR59HvZ5xERXzelnmBKwMvYQ0sut+y
+6nYZUewPypQuEevdc5RR
+-----END CERTIFICATE-----

server/index.js

@@ -16,25 +16,61 @@ import {
 } from './grpcClient.js';
 import { attachAudioWebSocket } from './audioWebSocket.js';
 import { streamCameraVideo } from './cameraVideoStream.js';
+import { startQuicServer } from './quicServer.js';
+import { consumeQuicEvent, getRobotAddress, getRobotDeviceId, listRobots } from './robotRegistry.js';
 
 const app = express()
 app.use(express.static(path.join(__dirname, '../dist')));
 app.use(cors())
 app.use(express.json())
 
+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 },
@@ -59,18 +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
@@ -94,13 +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 },
@@ -125,18 +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
@@ -162,11 +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) => {
@@ -193,10 +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
   };
@@ -226,10 +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,
@@ -266,10 +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
     }
   };
 
@@ -306,11 +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) => {
@@ -339,11 +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) => {
@@ -372,7 +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
@@ -380,7 +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) => {
@@ -408,13 +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) => {
@@ -443,10 +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) => {
@@ -473,9 +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) => {
@@ -545,7 +569,11 @@ if (httpsEnabled) {
   httpServer = http.createServer(app);
 }
 
-attachAudioWebSocket(httpServer)
+attachAudioWebSocket(httpServer, {
+  resolveRobotAddress: getRobotAddress,
+  resolveRobotDeviceId: getRobotDeviceId
+})
+startQuicServer({ onEvent: consumeQuicEvent })
 
 httpServer.listen(PORT, '0.0.0.0', () => {
   const protocol = httpsEnabled ? 'https' : 'http';

server/proto/cmvr/quic_edge/v1/quic_edge.proto

@@ -0,0 +1,232 @@
+syntax = "proto3";
+
+package cmvr.quic_edge.v1;
+
+// Every application message on the edge-opened reliable bidirectional stream
+// is carried by this envelope. message_sequence is strictly increasing per
+// sender (gaps are allowed) and is independent from the heartbeat sequence used
+// for liveness acknowledgement.
+message EdgeControlEnvelope {
+  uint32 protocol_version = 1;
+  uint64 message_sequence = 2;
+
+  oneof payload {
+    NodeRegisterRequest node_register_request = 10;
+    NodeRegisterResponse node_register_response = 11;
+    NodeHeartbeat node_heartbeat = 12;
+    NodeHeartbeatAck node_heartbeat_ack = 13;
+
+    MediaSessionOpen media_session_open = 20;
+    MediaTrackDescriptor media_track_descriptor = 21;
+    MediaSessionClose media_session_close = 22;
+
+    ProtocolError protocol_error = 30;
+  }
+}
+
+message NetworkInterfaceAddress {
+  enum AddressFamily {
+    ADDRESS_FAMILY_UNSPECIFIED = 0;
+    ADDRESS_FAMILY_IPV4 = 1;
+    ADDRESS_FAMILY_IPV6 = 2;
+  }
+
+  string interface_name = 1;
+  string ip_address = 2;
+  AddressFamily family = 3;
+  bool loopback = 4;
+}
+
+// The existing cmvr-es gRPC server remains the robot-control endpoint. The
+// edge advertises its current reachable address through the QUIC control plane.
+message GrpcEndpoint {
+  string host = 1;
+  uint32 port = 2;
+  bool tls = 3;
+}
+
+// Stable protocol-level categories for devices managed by cmvr-es. These
+// values intentionally do not reuse the configuration or gRPC API enums:
+// their zero values and supported categories have different semantics.
+enum DeviceKind {
+  DEVICE_KIND_UNSPECIFIED = 0;
+  DEVICE_KIND_AGV = 1;
+  DEVICE_KIND_ARM = 2;
+  DEVICE_KIND_BATTERY = 3;
+  DEVICE_KIND_BIO_HEAD = 4;
+  DEVICE_KIND_CAMERA = 5;
+  DEVICE_KIND_CAN_BUS = 6;
+  DEVICE_KIND_DEX_HAND = 7;
+  DEVICE_KIND_GRIPPER = 8;
+  DEVICE_KIND_MICROPHONE = 9;
+  DEVICE_KIND_MOTOR = 10;
+  DEVICE_KIND_MOTOR_SYSTEM = 11;
+  DEVICE_KIND_ROBOT = 12;
+  DEVICE_KIND_SPEAKER = 13;
+}
+
+// DeviceManager's view of a configured entry. REGISTERED means that the
+// manager owns a device record but has no more specific lifecycle signal.
+enum ManagedDeviceState {
+  MANAGED_DEVICE_STATE_UNSPECIFIED = 0;
+  MANAGED_DEVICE_STATE_DISABLED = 1;
+  MANAGED_DEVICE_STATE_INITIALIZING = 2;
+  MANAGED_DEVICE_STATE_REGISTERED = 3;
+  MANAGED_DEVICE_STATE_READY = 4;
+  MANAGED_DEVICE_STATE_RUNNING = 5;
+  MANAGED_DEVICE_STATE_STOPPED = 6;
+  MANAGED_DEVICE_STATE_ERROR = 7;
+}
+
+// Health is independent of lifecycle. UNSPECIFIED means that no trustworthy
+// health observation is available and must never be interpreted as healthy.
+enum DeviceHealthStatus {
+  DEVICE_HEALTH_STATUS_UNSPECIFIED = 0;
+  DEVICE_HEALTH_STATUS_HEALTHY = 1;
+  DEVICE_HEALTH_STATUS_DEGRADED = 2;
+  DEVICE_HEALTH_STATUS_FAULT = 3;
+}
+
+message ManagedDeviceStatus {
+  string device_id = 1;
+  DeviceKind kind = 2;
+
+  // Concrete implementation name when a device object exists; otherwise a
+  // category label. It is for display/diagnostics only. Consumers use kind,
+  // rather than this free-form string, for machine decisions.
+  string type_name = 3;
+
+  bool enabled = 4;
+  ManagedDeviceState manager_state = 5;
+  DeviceHealthStatus health = 6;
+
+  // false means that no error is currently confirmed. It does not turn
+  // DEVICE_HEALTH_STATUS_UNSPECIFIED into a healthy observation.
+  bool has_error = 7;
+  string error_message = 8;
+
+  // Time at which DeviceManager last changed the lifecycle/error record.
+  // DeviceManagerSnapshot.sampled_at_unix_ms is the freshness timestamp for
+  // the health observation carried by this heartbeat.
+  uint64 status_updated_at_unix_ms = 9;
+}
+
+message DeviceManagerSnapshot {
+  string manager_name = 1;
+  string manager_version = 2;
+  string manager_description = 3;
+
+  // Current cmvr-es senders include only enabled devices. The enabled field in
+  // each row and DISABLED enum value remain part of v1 for wire compatibility.
+  repeated ManagedDeviceStatus devices = 4;
+  uint64 sampled_at_unix_ms = 5;
+}
+
+message NodeDescriptor {
+  string node_id = 1;
+  string boot_id = 2;
+  string software_version = 3;
+  repeated NetworkInterfaceAddress local_interfaces = 4;
+  GrpcEndpoint grpc_endpoint = 5;
+  string robot_id = 6;
+}
+
+// This must be the first application message sent after each QUIC connection
+// is established. A reconnect always creates a new registration session.
+message NodeRegisterRequest {
+  NodeDescriptor node = 1;
+  uint64 sent_at_unix_ms = 2;
+}
+
+message NodeRegisterResponse {
+  bool accepted = 1;
+  string session_id = 2;
+  string message = 3;
+
+  // Zero tells the edge to keep its locally configured interval.
+  uint32 heartbeat_interval_ms = 4;
+
+  // Derived by the receiver from the authenticated QUIC peer address. It is
+  // not copied from a client-supplied local interface.
+  string observed_source_ip = 5;
+}
+
+// A heartbeat carries a fresh network snapshot so address changes are reported
+// without opening a second protocol or connection.
+message NodeHeartbeat {
+  string node_id = 1;
+  string boot_id = 2;
+  string session_id = 3;
+  uint64 sequence = 4;
+  uint64 sent_at_unix_ms = 5;
+  string software_version = 6;
+  repeated NetworkInterfaceAddress local_interfaces = 7;
+  GrpcEndpoint grpc_endpoint = 8;
+  DeviceManagerSnapshot device_manager = 9;
+  string robot_id = 10;
+}
+
+message NodeHeartbeatAck {
+  bool accepted = 1;
+  uint64 acknowledged_sequence = 2;
+  string message = 3;
+  uint64 server_time_unix_ms = 4;
+  string observed_source_ip = 5;
+  string session_id = 6;
+}
+
+message MediaSessionOpen {
+  string node_id = 1;
+  uint64 session_epoch = 2;
+
+  // Binds the media epoch to the accepted node registration on this QUIC
+  // connection. Media must not start before this session is assigned.
+  string session_id = 3;
+}
+
+enum MediaKind {
+  MEDIA_KIND_UNSPECIFIED = 0;
+  MEDIA_KIND_VIDEO = 1;
+  MEDIA_KIND_AUDIO = 2;
+}
+
+message MediaTrackDescriptor {
+  uint32 track_id = 1;
+  MediaKind kind = 2;
+  string device_id = 3;
+  string codec = 4;
+  uint64 codec_generation = 5;
+
+  // The exact MediaSourceHub track and the 32-bit token repeated in every
+  // DATAGRAM header. The full generation remains on the reliable stream.
+  string source_track_id = 6;
+  uint32 codec_generation_token = 7;
+  string payload_format = 8;
+
+  // Video fields. They are zero for audio tracks.
+  uint32 width = 10;
+  uint32 height = 11;
+  uint32 frames_per_second = 12;
+
+  // Audio fields. They are zero for video tracks.
+  uint32 sample_rate = 20;
+  uint32 channels = 21;
+
+  // Decoder initialization bytes, for example AVCC/HVCC or AudioSpecificConfig.
+  // Existing cmvr-es sources may leave this empty when configuration NAL units
+  // are carried in-band.
+  bytes codec_config = 30;
+}
+
+message MediaSessionClose {
+  string reason = 1;
+  string session_id = 2;
+  uint64 session_epoch = 3;
+}
+
+message ProtocolError {
+  uint32 code = 1;
+  string message = 2;
+  uint64 related_message_sequence = 3;
+  bool fatal = 4;
+}

server/proto/cmvr/quic_gateway/v1/quic_gateway.proto

@@ -0,0 +1,104 @@
+syntax = "proto3";
+
+package cmvr.quic_gateway.v1;
+
+option java_package = "com.cmvr.quic.gateway.v1";
+option java_multiple_files = true;
+option java_outer_classname = "QuicGatewayProtocol";
+
+enum NodeEventType {
+  NODE_EVENT_TYPE_UNSPECIFIED = 0;
+  NODE_EVENT_TYPE_REGISTERED = 1;
+  NODE_EVENT_TYPE_HEARTBEAT = 2;
+  NODE_EVENT_TYPE_OFFLINE = 3;
+  NODE_EVENT_TYPE_MEDIA_CHANGED = 4;
+}
+
+message NodeEvent {
+  NodeEventType type = 1;
+  NodeSnapshot node = 2;
+  uint64 event_time_unix_ms = 3;
+}
+
+message NodeSnapshot {
+  string node_id = 1;
+  string boot_id = 2;
+  string session_id = 3;
+  string software_version = 4;
+  bool online = 5;
+  uint64 registered_at_unix_ms = 6;
+  uint64 last_heartbeat_at_unix_ms = 7;
+  uint64 heartbeat_sequence = 8;
+  string observed_source_ip = 9;
+  GrpcEndpoint grpc_endpoint = 10;
+  repeated NetworkInterfaceAddress local_interfaces = 11;
+  DeviceManagerSnapshot device_manager = 12;
+  uint64 media_session_epoch = 13;
+  repeated MediaTrack tracks = 14;
+  string robot_id = 15;
+}
+
+message GrpcEndpoint {
+  string host = 1;
+  uint32 port = 2;
+  bool tls = 3;
+}
+
+message NetworkInterfaceAddress {
+  string interface_name = 1;
+  string ip_address = 2;
+  int32 family = 3;
+  bool loopback = 4;
+}
+
+message DeviceManagerSnapshot {
+  string manager_name = 1;
+  string manager_version = 2;
+  string manager_description = 3;
+  uint64 sampled_at_unix_ms = 4;
+  repeated ManagedDeviceStatus devices = 5;
+}
+
+message ManagedDeviceStatus {
+  string device_id = 1;
+  int32 kind = 2;
+  string type_name = 3;
+  bool enabled = 4;
+  int32 manager_state = 5;
+  int32 health = 6;
+  bool has_error = 7;
+  string error_message = 8;
+  uint64 status_updated_at_unix_ms = 9;
+}
+
+message MediaTrack {
+  uint32 track_id = 1;
+  int32 kind = 2;
+  string device_id = 3;
+  string source_track_id = 4;
+  string codec = 5;
+  string payload_format = 6;
+  uint64 codec_generation = 7;
+  uint32 codec_generation_token = 8;
+  uint32 width = 9;
+  uint32 height = 10;
+  uint32 frames_per_second = 11;
+  uint32 sample_rate = 12;
+  uint32 channels = 13;
+  bytes codec_config = 14;
+}
+
+message MediaFrame {
+  string node_id = 1;
+  string session_id = 2;
+  uint64 session_epoch = 3;
+  uint32 track_id = 4;
+  int32 kind = 5;
+  string codec = 6;
+  string payload_format = 7;
+  uint64 packet_sequence = 8;
+  uint64 frame_sequence = 9;
+  uint64 capture_timestamp_us = 10;
+  uint32 flags = 11;
+  bytes payload = 12;
+}

server/quic/README.md

@@ -0,0 +1,21 @@
+# CMVR QUIC 接收服务
+
+Node 服务启动时会同时启动 `server/quic/server.py`，在 UDP 5175 上接收
+CMVR edge 消息（原有 Web 服务仍使用 TCP 5175）。首次运行先安装 Python 依赖：
+
+```powershell
+py -3 -m pip install -r server/quic/requirements.txt
+```
+
+可用环境变量：
+
+- `QUIC_ENABLED=false`：不随 Node 启动 QUIC 服务。
+- `QUIC_HOST` / `QUIC_PORT`：监听地址和 UDP 端口，默认 `0.0.0.0:5175`。
+- `QUIC_CERT_FILE` / `QUIC_KEY_FILE`：TLS 证书和私钥。
+- `QUIC_ALPN`：逗号分隔的 ALPN，默认 `cmvr-quic-edge/1`。
+- `QUIC_HEARTBEAT_INTERVAL_MS`：注册响应下发的心跳周期，默认 5000。
+- `QUIC_PYTHON`：Python 可执行文件路径。
+
+控制消息以 JSON 行输出到服务日志。注册和心跳消息会分别得到
+`NodeRegisterResponse` 和 `NodeHeartbeatAck` 回复。媒体 DATAGRAM 的 64 字节
+CMQD 帧头会被解析，分片完整后以 `media_frame` JSON 事件和 Base64 数据输出。

server/quic/requirements.txt

@@ -0,0 +1,3 @@
+aioquic==1.3.0
+protobuf==7.35.1
+

server/quic/server.py

@@ -0,0 +1,258 @@
+"""CMVR edge QUIC gateway.
+
+Control stream records are protobuf messages prefixed by a four-byte,
+network-byte-order unsigned length.
+"""
+
+import asyncio
+import json
+import os
+import signal
+import struct
+import time
+import uuid
+from base64 import b64encode
+from pathlib import Path
+
+from aioquic.asyncio import QuicConnectionProtocol
+from aioquic.asyncio.server import QuicServer
+from aioquic.quic.configuration import QuicConfiguration
+from aioquic.quic.events import (
+    ConnectionTerminated,
+    DatagramFrameReceived,
+    HandshakeCompleted,
+    StreamDataReceived,
+)
+from google.protobuf.json_format import MessageToDict
+
+from generated import quic_edge_pb2
+
+
+PROTOCOL_VERSION = 1
+
+
+def log(event: str, **fields):
+    print(json.dumps({"source": "quic", "event": event, **fields}, ensure_ascii=False), flush=True)
+
+
+MAX_CONTROL_FRAME_BYTES = int(os.getenv("QUIC_MAX_CONTROL_FRAME_BYTES", "1048576"))
+DATAGRAM_HEADER_BYTES = 64
+DATAGRAM_MAGIC = b"CMQD"
+MEDIA_REASSEMBLY_TIMEOUT_SECONDS = 5
+
+
+def pop_delimited(buffer: bytearray):
+    if len(buffer) < 4:
+        return None
+    length = int.from_bytes(buffer[:4], "big")
+    if length == 0 or length > MAX_CONTROL_FRAME_BYTES:
+        raise ValueError(f"invalid control frame length: {length}")
+    if len(buffer) < 4 + length:
+        return None
+    payload = bytes(buffer[4:4 + length])
+    del buffer[:4 + length]
+    return payload
+
+
+class CmvrQuicProtocol(QuicConnectionProtocol):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.buffers = {}
+        self.sessions = {}
+        self.out_sequence = 0
+        self.media_frames = {}
+
+    def peer(self):
+        paths = getattr(self._quic, "_network_paths", [])
+        address = paths[0].addr if paths else ("unknown", 0)
+        return {"ip": str(address[0]), "port": int(address[1])}
+
+    def quic_event_received(self, event):
+        if isinstance(event, HandshakeCompleted):
+            log("connected", peer=self.peer(), alpn=event.alpn_protocol)
+        elif isinstance(event, StreamDataReceived):
+            self.receive_stream(event.stream_id, event.data, event.end_stream)
+        elif isinstance(event, DatagramFrameReceived):
+            self.receive_datagram(event.data)
+        elif isinstance(event, ConnectionTerminated):
+            log("disconnected", peer=self.peer(), error_code=event.error_code, reason=event.reason_phrase)
+
+    def receive_stream(self, stream_id: int, data: bytes, end_stream: bool):
+        buffer = self.buffers.setdefault(stream_id, bytearray())
+        buffer.extend(data)
+        try:
+            while payload := pop_delimited(buffer):
+                envelope = quic_edge_pb2.EdgeControlEnvelope()
+                envelope.ParseFromString(payload)
+                self.handle_envelope(stream_id, envelope)
+        except Exception as error:
+            log("protocol_error", peer=self.peer(), stream_id=stream_id, message=str(error))
+            self.send_error(stream_id, 1, str(error), fatal=True)
+        if end_stream:
+            if buffer:
+                log("truncated_message", peer=self.peer(), stream_id=stream_id, remaining_bytes=len(buffer))
+            self.buffers.pop(stream_id, None)
+
+    def handle_envelope(self, stream_id, envelope):
+        payload_type = envelope.WhichOneof("payload")
+        message = getattr(envelope, payload_type) if payload_type else None
+        log(
+            "control_message",
+            peer=self.peer(),
+            stream_id=stream_id,
+            protocol_version=envelope.protocol_version,
+            message_sequence=str(envelope.message_sequence),
+            payload_type=payload_type,
+            payload=MessageToDict(message, preserving_proto_field_name=True) if message else None,
+        )
+
+        if envelope.protocol_version != PROTOCOL_VERSION:
+            self.send_error(stream_id, 2, f"unsupported protocol version: {envelope.protocol_version}", envelope.message_sequence, True)
+            return
+        if payload_type == "node_register_request":
+            request = envelope.node_register_request
+            session_id = str(uuid.uuid4())
+            self.sessions[request.node.node_id] = session_id
+            response = quic_edge_pb2.EdgeControlEnvelope(protocol_version=PROTOCOL_VERSION)
+            response.node_register_response.CopyFrom(quic_edge_pb2.NodeRegisterResponse(
+                accepted=True,
+                session_id=session_id,
+                message="registered",
+                heartbeat_interval_ms=int(os.getenv("QUIC_HEARTBEAT_INTERVAL_MS", "5000")),
+                observed_source_ip=self.peer()["ip"],
+            ))
+            self.send_envelope(stream_id, response)
+        elif payload_type == "node_heartbeat":
+            heartbeat = envelope.node_heartbeat
+            expected = self.sessions.get(heartbeat.node_id)
+            accepted = bool(expected and expected == heartbeat.session_id)
+            response = quic_edge_pb2.EdgeControlEnvelope(protocol_version=PROTOCOL_VERSION)
+            response.node_heartbeat_ack.CopyFrom(quic_edge_pb2.NodeHeartbeatAck(
+                accepted=accepted,
+                acknowledged_sequence=heartbeat.sequence,
+                message="ok" if accepted else "unknown or mismatched session",
+                server_time_unix_ms=int(time.time() * 1000),
+                observed_source_ip=self.peer()["ip"],
+                session_id=expected or "",
+            ))
+            self.send_envelope(stream_id, response)
+
+    def receive_datagram(self, data: bytes):
+        now = time.monotonic()
+        for key, frame in list(self.media_frames.items()):
+            if now - frame["updated_at"] > MEDIA_REASSEMBLY_TIMEOUT_SECONDS:
+                del self.media_frames[key]
+
+        if len(data) < DATAGRAM_HEADER_BYTES or data[:4] != DATAGRAM_MAGIC:
+            log("invalid_datagram", peer=self.peer(), size=len(data), message="short packet or magic mismatch")
+            return
+        values = struct.unpack(">4sBBHHHHHIIQQQQII", data[:DATAGRAM_HEADER_BYTES])
+        (_, version, kind, flags, header_size, fragment_index, fragment_count,
+         payload_size, track_id, generation_token, session_epoch,
+         packet_sequence, frame_sequence, capture_timestamp_us, frame_size,
+         fragment_offset) = values
+        payload = data[DATAGRAM_HEADER_BYTES:]
+        if (version != PROTOCOL_VERSION or header_size != DATAGRAM_HEADER_BYTES or
+                kind not in (1, 2) or fragment_count == 0 or
+                fragment_index >= fragment_count or payload_size != len(payload) or
+                frame_size == 0 or fragment_offset + payload_size > frame_size):
+            log("invalid_datagram", peer=self.peer(), size=len(data), message="invalid CMQD header fields")
+            return
+
+        header = {
+            "kind": "video" if kind == 1 else "audio",
+            "flags": flags,
+            "key_frame": bool(flags & 1),
+            "discontinuity": bool(flags & 4),
+            "fragment_index": fragment_index,
+            "fragment_count": fragment_count,
+            "payload_size": payload_size,
+            "track_id": track_id,
+            "codec_generation_token": generation_token,
+            "session_epoch": str(session_epoch),
+            "packet_sequence": str(packet_sequence),
+            "frame_sequence": str(frame_sequence),
+            "capture_timestamp_us": str(capture_timestamp_us),
+            "frame_size": frame_size,
+            "fragment_offset": fragment_offset,
+        }
+        log("media_fragment", peer=self.peer(), **header)
+
+        key = (session_epoch, track_id, frame_sequence)
+        frame = self.media_frames.setdefault(key, {
+            "data": bytearray(frame_size), "received": set(), "header": header,
+            "fragment_count": fragment_count, "updated_at": now,
+        })
+        if frame["fragment_count"] != fragment_count or len(frame["data"]) != frame_size:
+            del self.media_frames[key]
+            log("invalid_datagram", peer=self.peer(), message="inconsistent fragments for frame", **header)
+            return
+        frame["data"][fragment_offset:fragment_offset + payload_size] = payload
+        frame["received"].add(fragment_index)
+        frame["updated_at"] = now
+        if len(frame["received"]) == fragment_count:
+            log("media_frame", peer=self.peer(), **frame["header"], data_base64=b64encode(frame["data"]).decode())
+            del self.media_frames[key]
+
+    def send_envelope(self, stream_id, envelope):
+        self.out_sequence += 1
+        envelope.message_sequence = self.out_sequence
+        data = envelope.SerializeToString()
+        self._quic.send_stream_data(stream_id, len(data).to_bytes(4, "big") + data, end_stream=False)
+        self.transmit()
+
+    def send_error(self, stream_id, code, message, related_sequence=0, fatal=False):
+        envelope = quic_edge_pb2.EdgeControlEnvelope(protocol_version=PROTOCOL_VERSION)
+        envelope.protocol_error.CopyFrom(quic_edge_pb2.ProtocolError(
+            code=code, message=message, related_message_sequence=related_sequence, fatal=fatal
+        ))
+        self.send_envelope(stream_id, envelope)
+
+
+class LoggingQuicServer(QuicServer):
+    """Expose packet arrival even when QUIC/TLS negotiation cannot complete."""
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self._last_packet_log = {}
+
+    def datagram_received(self, data, addr):
+        now = time.monotonic()
+        if now - self._last_packet_log.get(addr, 0) >= 5:
+            log("udp_packet_received", peer={"ip": str(addr[0]), "port": int(addr[1])}, size=len(data))
+            self._last_packet_log[addr] = now
+        super().datagram_received(data, addr)
+
+
+async def main():
+    host = os.getenv("QUIC_HOST", "0.0.0.0")
+    port = int(os.getenv("QUIC_PORT", "5175"))
+    cert = Path(os.getenv("QUIC_CERT_FILE", "server/certs/quic-gateway.crt"))
+    key = Path(os.getenv("QUIC_KEY_FILE", "server/certs/quic-gateway.key"))
+    alpn = [item.strip() for item in os.getenv("QUIC_ALPN", "cmvr-quic-edge/1").split(",") if item.strip()]
+
+    configuration = QuicConfiguration(is_client=False, alpn_protocols=alpn, max_datagram_frame_size=65536)
+    configuration.load_cert_chain(cert, key)
+    loop = asyncio.get_running_loop()
+    _, server = await loop.create_datagram_endpoint(
+        lambda: LoggingQuicServer(
+            configuration=configuration,
+            create_protocol=CmvrQuicProtocol,
+        ),
+        local_addr=(host, port),
+    )
+    log("listening", address=f"{host}:{port}", alpn=alpn, cert=str(cert))
+
+    stopped = asyncio.Event()
+    loop = asyncio.get_running_loop()
+    for sig in (signal.SIGINT, signal.SIGTERM):
+        try:
+            loop.add_signal_handler(sig, stopped.set)
+        except NotImplementedError:
+            signal.signal(sig, lambda *_: loop.call_soon_threadsafe(stopped.set))
+    await stopped.wait()
+    server.close()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())

server/quicServer.js

@@ -0,0 +1,60 @@
+import { spawn } from 'node:child_process'
+import path from 'node:path'
+import { fileURLToPath } from 'node:url'
+
+const serverDir = path.dirname(fileURLToPath(import.meta.url))
+
+export function startQuicServer({ onEvent } = {}) {
+  if (process.env.QUIC_ENABLED === 'false') return null
+
+  const script = path.join(serverDir, 'quic', 'server.py')
+  const python = process.env.QUIC_PYTHON || (process.platform === 'win32' ? 'py' : 'python3')
+  const args = process.platform === 'win32' && !process.env.QUIC_PYTHON
+    ? ['-3', script]
+    : [script]
+
+  const child = spawn(python, args, {
+    cwd: path.resolve(serverDir, '..'),
+    env: {
+      ...process.env,
+      QUIC_HOST: process.env.QUIC_HOST || '0.0.0.0',
+      QUIC_PORT: process.env.QUIC_PORT || '5175',
+      QUIC_CERT_FILE: process.env.QUIC_CERT_FILE || path.join(serverDir, 'certs', 'quic-gateway.crt'),
+      QUIC_KEY_FILE: process.env.QUIC_KEY_FILE || path.join(serverDir, 'certs', 'quic-gateway.key')
+    },
+    stdio: ['ignore', 'pipe', 'pipe']
+  })
+
+  child.stdout.setEncoding('utf8')
+  child.stderr.setEncoding('utf8')
+  let stdoutBuffer = ''
+  child.stdout.on('data', data => {
+    stdoutBuffer += data
+    const lines = stdoutBuffer.split(/\r?\n/)
+    stdoutBuffer = lines.pop() || ''
+    for (const line of lines) {
+      if (!line) continue
+      console.log(line)
+      try {
+        onEvent?.(JSON.parse(line))
+      } catch {
+        // Keep non-JSON Python diagnostics visible without feeding the registry.
+      }
+    }
+  })
+  child.stderr.on('data', data => process.stderr.write(data))
+  child.on('error', error => console.error('[quic] 无法启动 Python 服务:', error.message))
+  child.on('exit', (code, signal) => {
+    if (code !== 0 && signal !== 'SIGTERM') {
+      console.error(`[quic] 服务异常退出 (code=${code}, signal=${signal || 'none'})`)
+    }
+  })
+
+  const stop = () => {
+    if (!child.killed) child.kill()
+  }
+  process.once('SIGINT', stop)
+  process.once('SIGTERM', stop)
+  process.once('exit', stop)
+  return child
+}

server/robotRegistry.js

@@ -0,0 +1,93 @@
+const robots = new Map()
+
+const KIND_NAMES = {
+  DEVICE_KIND_AGV: 'agv',
+  DEVICE_KIND_ARM: 'arm',
+  DEVICE_KIND_BATTERY: 'battery',
+  DEVICE_KIND_BIO_HEAD: 'bioHead',
+  DEVICE_KIND_CAMERA: 'camera',
+  DEVICE_KIND_CAN_BUS: 'canBus',
+  DEVICE_KIND_DEX_HAND: 'dexHand',
+  DEVICE_KIND_GRIPPER: 'gripper',
+  DEVICE_KIND_MICROPHONE: 'microphone',
+  DEVICE_KIND_MOTOR: 'motor',
+  DEVICE_KIND_MOTOR_SYSTEM: 'motorSystem',
+  DEVICE_KIND_ROBOT: 'robot',
+  DEVICE_KIND_SPEAKER: 'speaker'
+}
+
+function groupDevices(devices = []) {
+  return devices.reduce((groups, device) => {
+    const kind = KIND_NAMES[device.kind] || 'other'
+    if (!groups[kind]) groups[kind] = []
+    groups[kind].push({
+      deviceId: device.device_id,
+      typeName: device.type_name || '',
+      enabled: device.enabled !== false,
+      state: device.manager_state || 'MANAGED_DEVICE_STATE_UNSPECIFIED',
+      health: device.health || 'DEVICE_HEALTH_STATUS_UNSPECIFIED',
+      hasError: Boolean(device.has_error),
+      errorMessage: device.error_message || ''
+    })
+    return groups
+  }, {})
+}
+
+function endpoint(peer, grpcEndpoint = {}) {
+  return peer?.ip && grpcEndpoint.port ? `${peer.ip}:${grpcEndpoint.port}` : ''
+}
+
+export function consumeQuicEvent(event) {
+  if (event?.event !== 'control_message') return
+  const payload = event.payload || {}
+
+  if (event.payload_type === 'node_register_request') {
+    const node = payload.node || {}
+    const robotId = node.robot_id || node.node_id
+    if (!robotId) return
+    const previous = robots.get(robotId) || {}
+    robots.set(robotId, {
+      ...previous,
+      robotId,
+      nodeId: node.node_id || previous.nodeId || '',
+      ip: endpoint(event.peer, node.grpc_endpoint) || previous.ip || '',
+      peerIp: event.peer?.ip || previous.peerIp || '',
+      grpcEndpoint: node.grpc_endpoint || previous.grpcEndpoint || {},
+      devices: previous.devices || {},
+      online: true,
+      lastSeenAt: new Date().toISOString()
+    })
+  }
+
+  if (event.payload_type === 'node_heartbeat') {
+    const robotId = payload.robot_id || payload.node_id
+    if (!robotId) return
+    const previous = robots.get(robotId) || {}
+    robots.set(robotId, {
+      ...previous,
+      robotId,
+      nodeId: payload.node_id || previous.nodeId || '',
+      ip: endpoint(event.peer, payload.grpc_endpoint) || previous.ip || '',
+      peerIp: event.peer?.ip || previous.peerIp || '',
+      grpcEndpoint: payload.grpc_endpoint || previous.grpcEndpoint || {},
+      devices: groupDevices(payload.device_manager?.devices),
+      online: true,
+      heartbeatSequence: payload.sequence || '0',
+      lastSeenAt: new Date().toISOString()
+    })
+  }
+}
+
+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')

src/api/robot.js

@@ -0,0 +1,5 @@
+import request from '@/utils/request'
+
+export function getQuicRobots() {
+  return request('/api/quic/robots')
+}

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()
@@ -9,12 +10,17 @@ const request = async (url, params = {}, method = 'GET', headers = { 'Content-Ty
   }, 5000)
 
   try {
-    const res = await fetch(url, {
+    const robotId = useRobotStore().robotId
+    const requestParams = robotId && !params.robotId ? { ...params, robotId } : params
+    const options = {
       method,
       headers,
-      body: JSON.stringify(params),
       signal
-    })
+    }
+    if (!['GET', 'HEAD'].includes(method.toUpperCase())) {
+      options.body = JSON.stringify(requestParams)
+    }
+    const res = await fetch(url, options)
 
     const data = await res.json()
     if (!res.ok) {

src/views/Address.vue

@@ -5,32 +5,28 @@
             <div class="secondaryTitle">填写设备通讯参数，建立与AGV底盘和机械臂的连接</div>
             <div class="tips">请操持设备与上位机在同一局域网内</div>
             <div class="form">
-                <el-form ref="ruleFormRef"  :model="ruleForm" :rules="rules" label-width="auto">
+                <div class="robot-list">
-                    <el-form-item label="IP和端口" prop="ip">
+                    <el-select
-                        <el-input v-model="ruleForm.ip" placeholder="请输入IP和端口" />
+                        v-model="selectedRobotId"
-                    </el-form-item>
+                        placeholder="请选择已连接机器人"
-                    <el-form-item label="机器人类型" prop="robotType">
+                        clearable
-                        <el-select v-model="ruleForm.robotType" placeholder="请选择机器人类型">
+                        filterable
-                            <el-option label="巡检机器人" value="inspection"></el-option>
+                        @change="selectRobot"
-                            <el-option label="讲解机器人" value="explanation"></el-option>
+                    >
+                        <el-option
+                            v-for="robot in robots"
+                            :key="robot.robotId"
+                            :label="robot.robotId"
+                            :value="robot.robotId"
+                        />
                     </el-select>
-                    </el-form-item>
+                    <el-button :loading="robotListLoading" @click="loadRobots">刷新列表</el-button>
-                    <!-- <el-form-item label="底盘设备ID" prop="agvDeviceId">
+                </div>
-                        <el-input v-model="ruleForm.agvDeviceId" placeholder="请输入底盘设备ID" />
+                <el-table v-if="selectedRobot" :data="selectedDevices" size="small" max-height="220">
-                    </el-form-item>
+                    <el-table-column prop="kind" label="设备类型" width="120" />
-                    <el-form-item label="机械臂设备ID" prop="almDeviceId">
+                    <el-table-column prop="deviceId" label="设备 ID" />
-                        <el-input v-model="ruleForm.almDeviceId" placeholder="请输入机械臂设备ID" />
+                    <el-table-column prop="health" label="健康状态" width="190" />
-                    </el-form-item>
+                </el-table>
-                    <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>
             <div class="error-tips">连接异常排查：检查机器人状态、局域网联通、设备ID调谐是否匹配</div>
@@ -38,78 +34,87 @@
     </div>
 </template>
 <script setup>
-import { ref } from 'vue'
+import { computed, onMounted, onUnmounted, ref } from 'vue'
 import { useRouter } from 'vue-router'
 import { getRuntimeState } from '@/api/agv.js'
 import { useRobotStore } from '@/stores/robot'
 import { ElMessage } from 'element-plus'
-import { ca } from 'element-plus/es/locales.mjs'
+import { getQuicRobots } from '@/api/robot.js'
 
 const router = useRouter()
 
 const robotStore = useRobotStore()
 
 const loading = ref(false)
-const ruleFormRef = ref()
+const robotListLoading = ref(false)
-const ruleForm = ref({
+const robots = ref([])
-    ip: '',
+const selectedRobotId = ref(robotStore.robotId || '')
-    robotType: 'inspection',
+const selectedRobot = computed(() => robots.value.find(robot => robot.robotId === selectedRobotId.value))
-    // agvDeviceId:'src1100',
+const selectedDevices = computed(() => Object.entries(selectedRobot.value?.devices || {}).flatMap(
-    // almDeviceId: 'huayan_arm',
+    ([kind, devices]) => devices.map(device => ({ kind, ...device }))
-    // spkDeviceId: 'spk1',
+))
-    // micDeviceId: 'mic1',
+let refreshTimer
-    // cameraDeviceId: 'real_cam1'
-})
 
-const rules = ref({
+/**
-    ip: [
+ * 通过机械臂数量判断机器人类型
-        { required: true, message: '请输入机器人IP和端口', trigger: 'blur' }
+ * 1 个机械臂为巡检机器人，2 个机械臂为讲解机器人
-    ],
+ * @param robot 
-    robotType: [
+ */
-        { required: true, message: '请选择机器人类型', trigger: 'blur' }
+const getRobotType = (robot) => {
-    ],
+    const armCount = robot?.devices?.arm?.length || 0
-    // agvDeviceId: [
+    if (armCount === 1) return 'inspection'
-    //     { required: true, message: '请输入底盘设备ID', trigger: 'blur' }
+    if (armCount === 2) return 'explanation'
-    // ],
+    return ''
-    // 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 testConnect = async () => {
-    const valid = await ruleFormRef.value.validate();
-    if (valid) {
-        loading.value = true
-        robotStore.setIp(ruleForm.value.ip)
-        robotStore.setRobotType(ruleForm.value.robotType)
-        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')
 }
 
+/**
+ * 选择机器人并且设置机器人类型
+ */
+const selectRobot = () => {
+    const robot = selectedRobot.value
+    if (!robot) return
+    robotStore.setRobotId(robot.robotId)
+    const robotType = getRobotType(robot)
+    if (robotType) robotStore.setRobotType(robotType)
+}
+
+/**
+ * 加载机器人列表
+ */
+const loadRobots = async () => {
+    robotListLoading.value = true
     try {
-            const result = await getRuntimeState({
+        const result = await getQuicRobots()
-                ip: robotStore.ip,
+        robots.value = result.data || []
-                deviceId: robotStore.agvDeviceId
+        if (selectedRobotId.value) selectRobot()
+    } finally {
+        robotListLoading.value = false
+    }
+}
+
+onMounted(() => {
+    loadRobots()
+    refreshTimer = setInterval(loadRobots, 5000)
 })
+onUnmounted(() => clearInterval(refreshTimer))
+
+const testConnect = async () => {
+    if (!selectedRobot.value) {
+        ElMessage.warning('请先选择已连接机器人')
+        return
+    }
+    const robotType = getRobotType(selectedRobot.value)
+    if (!robotType) {
+        ElMessage.warning('机器人机械臂数量异常，无法判断机器人类型')
+        return
+    }
+
+    loading.value = true
+    robotStore.setRobotId(selectedRobot.value.robotId)
+    robotStore.setRobotType(robotType)
+
+    try {
+        const result = await getRuntimeState()
         loading.value = false
         if (result.code === 200) {
             robotStore.setPosition(result.data.pose)
@@ -127,7 +132,6 @@ const testConnect = async () => {
         ElMessage.error(error?.message || '连接服务错误')
     }
 }
-}
 
 </script>
 <style lang="scss" scoped>
@@ -174,11 +178,6 @@ const testConnect = async () => {
             margin-bottom: 12px;
         }
 
-        :deep(.el-form-item__label) {
-            font-size: 16px;
-            line-height: 40px;
-        }
-
         :deep(.el-input__inner) {
             height: 40px;
             // 避免 iPad Safari 聚焦小字号输入框时自动缩放页面。
@@ -202,6 +201,20 @@ const testConnect = async () => {
             margin-top: 20px;
         }
 
+        .robot-list {
+            display: flex;
+            gap: 12px;
+            margin-bottom: 16px;
+
+            .el-select {
+                flex: 1;
+            }
+        }
+
+        .el-table {
+            margin-bottom: 16px;
+        }
+
         .error-tips {
             text-align: center;
             font-size: 14px;

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()
         }
     }, {