✨ feat(*): 完善 FANUC J519 闭环、MoveJoint 与现场抓包验证
* 划分 J519 发送循环与稠密轨迹循环职责边界， FanucJ519Client 负责 UDP 周期发送， FanucControllerRuntime 按轨迹时间更新下一帧命令 * 执行时将规划输出 rad 转为 J519 deg 目标， 并按 speed_ratio 调整 8ms 发送时间尺度 * 补齐 accept_cmd/received_cmd/sysrdy/rbt_inmotion 状态位解析与启动前闭环检查 * MoveJoint 改为关节空间直线 + smoothstep 进度 的临时 PTP 稠密轨迹，按 status=15 运动窗口复现 * 新增 UTTC 2026-04-28 三份抓包 golden tests， 覆盖 0.5/0.7/1.0 speed_ratio 下的 J519 命令、 IO 脉冲与响应滞后 * 状态通道补充超时重连策略与退避逻辑 * TCP 10012 命令响应统一检查 result_code * 状态页扩展 J519 状态位与快照诊断信息 * 新增 docs/fanuc-field-runtime-workflow.md 现场工作流 * 补充 LR Mate 200iD 模型、RobotConfig.json 与 workpiece
This commit is contained in:
@@ -1,5 +1,9 @@
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using Flyshot.Core.Domain;
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using Flyshot.ControllerClientCompat;
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using Flyshot.Core.Config;
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using Flyshot.Runtime.Fanuc;
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using Flyshot.Runtime.Fanuc.Protocol;
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using System.Reflection;
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namespace Flyshot.Core.Tests;
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@@ -8,6 +12,302 @@ namespace Flyshot.Core.Tests;
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/// </summary>
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public sealed class FanucControllerRuntimeDenseTests
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{
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private const double CapturedMvpointVelocityShapeCoefficient = 2.0759961613199973;
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private const double CapturedMvpointAccelerationShapeCoefficient = 7.986313199999984;
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private const double CapturedMvpointJerkShapeCoefficient = 36.12609273600853;
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/// <summary>
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/// 验证真机 J519 发送按 8ms 实发周期、speed_ratio 轨迹时间步进，并输出角度制目标。
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/// </summary>
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[Fact]
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public void ExecuteTrajectory_WithDenseWaypoints_RealMode_ResamplesBySpeedRatioAndConvertsRadiansToDegrees()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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j519Client.EnableCommandHistoryForTests();
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ForceRealModeEnabled(runtime, speedRatio: 0.5);
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var denseTrajectory = new[]
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{
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new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
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new[] { 0.008, Math.PI / 2.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
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new[] { 0.016, Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0 }
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};
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var result = new TrajectoryResult(
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programName: "demo",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(0.016),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 4,
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plannedWaypointCount: 4,
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denseJointTrajectory: denseTrajectory);
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runtime.ExecuteTrajectory(result, [Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0]);
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(5, commands.Count);
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Assert.All(commands, static command => Assert.Equal(0u, command.Sequence));
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Assert.Equal([0.0, 45.0, 90.0, 135.0, 180.0], commands.Select(static command => command.TargetJoints[0]));
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}
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/// <summary>
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/// 验证 MoveJoint 会按抓包确认的点到点临时轨迹生成稠密 J519 目标，并继续叠加 speed_ratio 重采样。
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/// </summary>
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[Theory]
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[InlineData(1.0)]
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[InlineData(0.7)]
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[InlineData(0.5)]
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public void MoveJoint_RealMode_GeneratesTemporaryPtpTrajectoryAndResamplesBySpeedRatio(double speedRatio)
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var service = CreateCompatService(runtime);
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var startJoints = new[]
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{
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1.056731,
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0.011664811,
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-0.017892333,
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-0.01516874,
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0.021492079,
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0.009567846
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};
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var targetJoints = new[]
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{
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0.8532358,
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0.03837953,
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-0.19235304,
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0.0071595116,
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0.109054826,
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0.040055145
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};
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service.SetUpRobot("FANUC_LR_Mate_200iD");
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j519Client.EnableCommandHistoryForTests();
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ForceRealModeEnabled(runtime, speedRatio);
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SetPrivateField(runtime, "_jointPositions", startJoints);
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var options = new ControllerClientCompatOptions
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{
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WorkspaceRoot = TestRobotFactory.GetWorkspaceRoot()
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};
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var robot = new ControllerClientCompatRobotCatalog(options, new RobotModelLoader())
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.LoadProfile("FANUC_LR_Mate_200iD", accLimitScale: 1.0, jerkLimitScale: 1.0);
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var expectedResult = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio);
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service.MoveJoint(targetJoints);
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(expectedResult.DenseJointTrajectory!.Count, commands.Count);
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AssertJointDegreesEqual(startJoints, commands[0].TargetJoints);
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AssertJointDegreesEqual(targetJoints, commands[^1].TargetJoints);
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var middleAlpha = ComputeLineAlpha(commands[commands.Count / 2].TargetJoints, startJoints, targetJoints);
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Assert.InRange(middleAlpha, 0.45, 0.55);
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var earlyAlpha = ComputeLineAlpha(commands[Math.Min(5, commands.Count - 1)].TargetJoints, startJoints, targetJoints);
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Assert.InRange(earlyAlpha, 0.0, 0.02);
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}
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[Fact]
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public void MoveJointTrajectoryGenerator_LowerSpeedUsesMoreSamplesWithoutFixedCountContract()
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{
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var robot = CreateMoveJointReferenceRobotProfile();
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var startJoints = new[] { 1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846 };
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var targetJoints = new[] { 0.8532358, 0.03837953, -0.19235304, 0.0071595116, 0.109054826, 0.040055145 };
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var fullSpeed = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 1.0);
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var speed07 = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 0.7);
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var speed05 = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 0.5);
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Assert.True(speed07.DenseJointTrajectory!.Count > fullSpeed.DenseJointTrajectory!.Count);
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Assert.True(speed05.DenseJointTrajectory!.Count > speed07.DenseJointTrajectory!.Count);
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Assert.InRange(fullSpeed.Duration.TotalSeconds, 0.318, 0.322);
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Assert.True(speed07.Duration.TotalSeconds >= 0.320);
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Assert.InRange(speed05.Duration.TotalSeconds, 0.318, 0.322);
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}
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[Fact]
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public void MoveJoint_RealMode_LeavesFinalTargetForHoldStreaming()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var service = CreateCompatService(runtime);
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var startJoints = new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
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var targetJoints = new[] { 0.2, -0.1, 0.05, 0.0, 0.0, 0.1 };
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service.SetUpRobot("FANUC_LR_Mate_200iD");
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ForceRealModeEnabled(runtime, speedRatio: 1.0);
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SetPrivateField(runtime, "_jointPositions", startJoints);
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service.MoveJoint(targetJoints);
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WaitUntilIdle(runtime);
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var currentCommand = j519Client.GetCurrentCommand();
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Assert.NotNull(currentCommand);
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AssertJointDegreesEqual(targetJoints, currentCommand.TargetJoints);
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}
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/// <summary>
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/// 验证 speed_ratio=0 时不会启动无法推进轨迹时间的后台发送任务。
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/// </summary>
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[Fact]
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public void ExecuteTrajectory_WithDenseWaypoints_RealMode_RejectsZeroSpeedRatio()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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ForceRealModeEnabled(runtime, speedRatio: 0.0);
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var denseTrajectory = new[]
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{
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new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
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new[] { 0.016, Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0 }
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};
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var result = new TrajectoryResult(
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programName: "demo",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(0.016),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 4,
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plannedWaypointCount: 4,
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denseJointTrajectory: denseTrajectory);
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var exception = Assert.Throws<InvalidOperationException>(
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() => runtime.ExecuteTrajectory(result, [Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0]));
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Assert.Contains("Speed ratio", exception.Message, StringComparison.OrdinalIgnoreCase);
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}
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/// <summary>
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/// 验证真机模式下若 J519 响应明确显示伺服侧未就绪，则拒绝启动稠密轨迹发送。
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/// </summary>
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[Fact]
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public void ExecuteTrajectory_WithDenseWaypoints_RealMode_RejectsNotReadyJ519Status()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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ForceRealModeEnabled(runtime, speedRatio: 1.0);
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SetLatestJ519Response(j519Client, status: 0b0011);
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var result = CreateDenseResult(
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[
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.008, Math.PI / 2.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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],
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durationSeconds: 0.008);
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var exception = Assert.Throws<InvalidOperationException>(
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() => runtime.ExecuteTrajectory(result, [Math.PI / 2.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
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Assert.Contains("J519 status is not ready", exception.Message);
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Assert.Contains("sysrdy=False", exception.Message);
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}
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/// <summary>
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/// 验证控制器快照暴露最近一次 J519 响应中的四个状态位，便于状态页和诊断接口显示。
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/// </summary>
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[Fact]
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public void GetSnapshot_RealMode_IncludesLatestJ519StatusBits()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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ForceRealModeEnabled(runtime, speedRatio: 1.0);
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SetLatestJ519Response(j519Client, status: 0b0111);
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var snapshot = runtime.GetSnapshot();
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Assert.Equal((byte)0b0111, snapshot.J519Status);
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Assert.Equal(10u, snapshot.J519Sequence);
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Assert.True(snapshot.J519AcceptsCommand);
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Assert.True(snapshot.J519ReceivedCommand);
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Assert.True(snapshot.J519SystemReady);
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Assert.False(snapshot.J519RobotInMotion);
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}
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/// <summary>
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/// 验证飞拍 IO 脉冲按轨迹时间轴嵌入 J519 命令，并在保持周期后用同一 mask 清零。
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/// </summary>
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[Fact]
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public void ExecuteTrajectory_WithDenseWaypoints_RealMode_EmbedsIoPulseOnTrajectoryTimeline()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client();
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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j519Client.EnableCommandHistoryForTests();
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ForceRealModeEnabled(runtime, speedRatio: 1.0);
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var denseTrajectory = new[]
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{
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new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
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new[] { 0.024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
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};
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var result = new TrajectoryResult(
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programName: "demo",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(0.024),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline:
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[
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new TrajectoryDoEvent(
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waypointIndex: 1,
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triggerTime: 0.008,
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offsetCycles: 0,
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holdCycles: 2,
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addressGroup: new IoAddressGroup([1, 3]))
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],
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 4,
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plannedWaypointCount: 4,
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denseJointTrajectory: denseTrajectory);
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runtime.ExecuteTrajectory(result, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(4, commands.Count);
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Assert.Equal([(ushort)0, (ushort)10, (ushort)10, (ushort)10], commands.Select(static command => command.WriteIoMask));
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Assert.Equal([(ushort)0, (ushort)10, (ushort)10, (ushort)0], commands.Select(static command => command.WriteIoValue));
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}
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/// <summary>
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/// 验证仿真模式下即使传入稠密路点，也会回退到单点同步更新。
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/// </summary>
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@@ -93,4 +393,287 @@ public sealed class FanucControllerRuntimeDenseTests
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var actual = FanucControllerRuntime.ComputeIoValue(group);
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Assert.Equal((ushort)(1 | 128), actual);
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}
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[Fact]
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public void MoveJointTrajectoryGenerator_MatchesCapturedMvpointAlphaLawAtSpeedOne()
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{
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var robot = CreateMoveJointReferenceRobotProfile();
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var startJoints = new[]
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{
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DegreesToRadians(60.546227),
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DegreesToRadians(0.668344),
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DegreesToRadians(-1.025155),
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DegreesToRadians(-0.869105),
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DegreesToRadians(1.231405),
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DegreesToRadians(0.548197)
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};
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var targetJoints = new[]
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{
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DegreesToRadians(48.886810),
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DegreesToRadians(2.198985),
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DegreesToRadians(-11.021017),
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DegreesToRadians(0.410210),
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DegreesToRadians(6.248381),
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DegreesToRadians(2.294991)
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};
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var result = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 1.0);
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var rows = result.DenseJointTrajectory!;
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Assert.Equal(41, rows.Count);
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Assert.InRange(result.Duration.TotalSeconds, 0.318, 0.322);
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var expectedAlpha = new[]
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{
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0.000000000000,
|
||||
0.000012196163,
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0.000106156906,
|
||||
0.000764380061,
|
||||
0.002550804028,
|
||||
0.006029689194,
|
||||
0.011765134027,
|
||||
0.020321400844,
|
||||
0.032262426551,
|
||||
0.048152469303,
|
||||
0.068555498563,
|
||||
0.093895155669,
|
||||
0.124210027377,
|
||||
0.159174512929,
|
||||
0.198230386318,
|
||||
0.240813559900,
|
||||
0.286359937276,
|
||||
0.334305411725,
|
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0.384085546646,
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||||
0.435136609163,
|
||||
0.486894129077,
|
||||
0.538794033110,
|
||||
0.590272360135,
|
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0.640764719629,
|
||||
0.689707151220,
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||||
0.736535405849,
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0.780685354316,
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0.821592775628,
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0.858693734065,
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0.891423926949,
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0.919286047395,
|
||||
0.942156722091,
|
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0.960255163676,
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0.974119666692,
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0.984314536393,
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0.991403790959,
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0.995951593494,
|
||||
0.998522142663,
|
||||
0.999679443354,
|
||||
0.999987892657,
|
||||
1.000000000000
|
||||
};
|
||||
|
||||
for (var index = 0; index < rows.Count; index++)
|
||||
{
|
||||
var actualDegrees = rows[index].Skip(1).Select(RadiansToDegrees).ToArray();
|
||||
var alpha = ComputeLineAlpha(actualDegrees, startJoints, targetJoints);
|
||||
Assert.Equal(expectedAlpha[index], alpha, precision: 6);
|
||||
}
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void MoveJointTrajectoryGenerator_DoesNotShortenBaseDurationWhenSpeedRatioDoesNotDivideWindow()
|
||||
{
|
||||
var robot = CreateMoveJointReferenceRobotProfile();
|
||||
var startJoints = new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
var targetJoints = new[] { 0.05, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
|
||||
var result = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 0.7);
|
||||
var rows = result.DenseJointTrajectory!;
|
||||
|
||||
Assert.True(result.Duration.TotalSeconds >= 0.320, $"Duration was shortened to {result.Duration.TotalSeconds:F6}s.");
|
||||
AssertJointDegreesEqual(startJoints, rows[0].Skip(1).Select(RadiansToDegrees).ToArray());
|
||||
AssertJointDegreesEqual(targetJoints, rows[^1].Skip(1).Select(RadiansToDegrees).ToArray());
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void MoveJointTrajectoryGenerator_RejectsUnrepresentableSampleCountForTinySpeedRatio()
|
||||
{
|
||||
var robot = CreateMoveJointReferenceRobotProfile();
|
||||
var startJoints = new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
var targetJoints = new[] { 0.05, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
|
||||
var exception = Assert.Throws<InvalidOperationException>(
|
||||
() => MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 1e-12));
|
||||
|
||||
Assert.Contains("sample count", exception.Message, StringComparison.OrdinalIgnoreCase);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void MoveJointTrajectoryGenerator_StretchesLongMoveFromJointLimitsInsteadOfKeepingFortyCycles()
|
||||
{
|
||||
var robot = CreateMoveJointReferenceRobotProfile();
|
||||
var startJoints = new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
var targetJoints = new[] { Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
|
||||
var result = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 1.0);
|
||||
var rows = result.DenseJointTrajectory!;
|
||||
var expectedVelocityDuration = Math.PI * CapturedMvpointVelocityShapeCoefficient / robot.JointLimits[0].VelocityLimit;
|
||||
var expectedAccelerationDuration = Math.Sqrt(Math.PI * CapturedMvpointAccelerationShapeCoefficient / robot.JointLimits[0].AccelerationLimit);
|
||||
var expectedJerkDuration = Math.Cbrt(Math.PI * CapturedMvpointJerkShapeCoefficient / robot.JointLimits[0].JerkLimit);
|
||||
var expectedMinimumDuration = new[]
|
||||
{
|
||||
0.320,
|
||||
expectedVelocityDuration,
|
||||
expectedAccelerationDuration,
|
||||
expectedJerkDuration
|
||||
}.Max();
|
||||
var expectedCountFromDuration = (int)Math.Floor(result.Duration.TotalSeconds / robot.ServoPeriod.TotalSeconds + 1e-9) + 1;
|
||||
|
||||
Assert.True(rows.Count > 41, $"Expected long MoveJoint to produce more than 41 points, got {rows.Count}.");
|
||||
Assert.True(
|
||||
result.Duration.TotalSeconds >= expectedMinimumDuration,
|
||||
$"Expected duration >= {expectedMinimumDuration:F6}s from joint limits, got {result.Duration.TotalSeconds:F6}s.");
|
||||
Assert.Equal(expectedCountFromDuration, rows.Count);
|
||||
AssertJointDegreesEqual(startJoints, rows[0].Skip(1).Select(RadiansToDegrees).ToArray());
|
||||
AssertJointDegreesEqual(targetJoints, rows[^1].Skip(1).Select(RadiansToDegrees).ToArray());
|
||||
}
|
||||
|
||||
private static void ForceRealModeEnabled(FanucControllerRuntime runtime, double speedRatio)
|
||||
{
|
||||
SetPrivateField(runtime, "_activeControllerIsSimulation", false);
|
||||
SetPrivateField(runtime, "_connectedRobotIp", "127.0.0.1");
|
||||
SetPrivateField(runtime, "_isEnabled", true);
|
||||
SetPrivateField(runtime, "_bufferSize", 2);
|
||||
SetPrivateField(runtime, "_speedRatio", speedRatio);
|
||||
}
|
||||
|
||||
private static ControllerClientCompatService CreateCompatService(FanucControllerRuntime runtime)
|
||||
{
|
||||
var options = new ControllerClientCompatOptions
|
||||
{
|
||||
WorkspaceRoot = TestRobotFactory.GetWorkspaceRoot()
|
||||
};
|
||||
|
||||
return new ControllerClientCompatService(
|
||||
options,
|
||||
new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
|
||||
runtime,
|
||||
new ControllerClientTrajectoryOrchestrator(),
|
||||
new RobotConfigLoader(),
|
||||
new InMemoryFlyshotTrajectoryStore());
|
||||
}
|
||||
|
||||
private static double ComputeLineAlpha(
|
||||
IReadOnlyList<double> actualDegrees,
|
||||
IReadOnlyList<double> startRadians,
|
||||
IReadOnlyList<double> targetRadians)
|
||||
{
|
||||
var numerator = 0.0;
|
||||
var denominator = 0.0;
|
||||
for (var index = 0; index < startRadians.Count; index++)
|
||||
{
|
||||
var startDegrees = RadiansToDegrees(startRadians[index]);
|
||||
var deltaDegrees = RadiansToDegrees(targetRadians[index]) - startDegrees;
|
||||
numerator += (actualDegrees[index] - startDegrees) * deltaDegrees;
|
||||
denominator += deltaDegrees * deltaDegrees;
|
||||
}
|
||||
|
||||
return denominator <= 0.0 ? 0.0 : numerator / denominator;
|
||||
}
|
||||
|
||||
private static void AssertJointDegreesEqual(IReadOnlyList<double> expectedRadians, IReadOnlyList<double> actualDegrees)
|
||||
{
|
||||
Assert.Equal(expectedRadians.Count, actualDegrees.Count);
|
||||
for (var index = 0; index < expectedRadians.Count; index++)
|
||||
{
|
||||
Assert.Equal(RadiansToDegrees(expectedRadians[index]), actualDegrees[index], precision: 4);
|
||||
}
|
||||
}
|
||||
|
||||
private static RobotProfile CreateMoveJointReferenceRobotProfile()
|
||||
{
|
||||
return new RobotProfile(
|
||||
name: "FANUC_LR_Mate_200iD",
|
||||
modelPath: "Models/FANUC_LR_Mate_200iD.robot",
|
||||
degreesOfFreedom: 6,
|
||||
jointLimits:
|
||||
[
|
||||
new JointLimit("J1", 7.85, 32.72, 272.7),
|
||||
new JointLimit("J2", 6.63, 27.63, 230.28),
|
||||
new JointLimit("J3", 9.07, 37.81, 315.12),
|
||||
new JointLimit("J4", 9.59, 39.99, 333.3),
|
||||
new JointLimit("J5", 9.51, 39.63, 330.27),
|
||||
new JointLimit("J6", 17.45, 72.72, 606.01)
|
||||
],
|
||||
jointCouplings: Array.Empty<JointCoupling>(),
|
||||
servoPeriod: TimeSpan.FromMilliseconds(8),
|
||||
triggerPeriod: TimeSpan.FromMilliseconds(8));
|
||||
}
|
||||
|
||||
private static double DegreesToRadians(double degrees)
|
||||
{
|
||||
return degrees * Math.PI / 180.0;
|
||||
}
|
||||
|
||||
private static double RadiansToDegrees(double radians)
|
||||
{
|
||||
return radians * 180.0 / Math.PI;
|
||||
}
|
||||
|
||||
private static void WaitUntilIdle(FanucControllerRuntime runtime)
|
||||
{
|
||||
var deadline = DateTimeOffset.UtcNow.AddSeconds(1);
|
||||
while (DateTimeOffset.UtcNow < deadline)
|
||||
{
|
||||
if (!runtime.GetSnapshot().IsInMotion)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Thread.Sleep(1);
|
||||
}
|
||||
|
||||
throw new TimeoutException("Timed out waiting for dense trajectory send task to finish.");
|
||||
}
|
||||
|
||||
private static void SetPrivateField<T>(FanucControllerRuntime runtime, string name, T value)
|
||||
{
|
||||
var field = typeof(FanucControllerRuntime).GetField(name, BindingFlags.Instance | BindingFlags.NonPublic);
|
||||
Assert.NotNull(field);
|
||||
field.SetValue(runtime, value);
|
||||
}
|
||||
|
||||
private static TrajectoryResult CreateDenseResult(IReadOnlyList<IReadOnlyList<double>> denseTrajectory, double durationSeconds)
|
||||
{
|
||||
return new TrajectoryResult(
|
||||
programName: "demo",
|
||||
method: PlanningMethod.Icsp,
|
||||
isValid: true,
|
||||
duration: TimeSpan.FromSeconds(durationSeconds),
|
||||
shotEvents: Array.Empty<ShotEvent>(),
|
||||
triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
|
||||
artifacts: Array.Empty<TrajectoryArtifact>(),
|
||||
failureReason: null,
|
||||
usedCache: false,
|
||||
originalWaypointCount: 4,
|
||||
plannedWaypointCount: 4,
|
||||
denseJointTrajectory: denseTrajectory);
|
||||
}
|
||||
|
||||
private static void SetLatestJ519Response(FanucJ519Client client, byte status)
|
||||
{
|
||||
var response = new FanucJ519Response(
|
||||
messageType: 0,
|
||||
version: 1,
|
||||
sequence: 10,
|
||||
status: status,
|
||||
readIoType: 2,
|
||||
readIoIndex: 1,
|
||||
readIoMask: 255,
|
||||
readIoValue: 0,
|
||||
timestamp: 1234,
|
||||
pose: new double[6],
|
||||
externalAxes: new double[3],
|
||||
jointDegrees: new double[9],
|
||||
motorCurrents: new double[9]);
|
||||
var field = typeof(FanucJ519Client).GetField("_latestResponse", BindingFlags.Instance | BindingFlags.NonPublic);
|
||||
Assert.NotNull(field);
|
||||
field.SetValue(client, response);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user