✨ 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:
526
tests/Flyshot.Core.Tests/UttcJ519GoldenTests.cs
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526
tests/Flyshot.Core.Tests/UttcJ519GoldenTests.cs
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using System.Buffers.Binary;
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using System.Globalization;
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using Flyshot.Runtime.Fanuc.Protocol;
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namespace Flyshot.Core.Tests;
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/// <summary>
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/// 使用 2026-04-28 UTTC 真实抓包验证 J519 主运行点位与 JointDetialTraj 重采样规则一致。
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/// </summary>
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public sealed class UttcJ519GoldenTests
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{
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private const int JointCount = 6;
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private const int RobotJ519Port = 60015;
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private const double ServoPeriodSeconds = 0.008;
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public static IEnumerable<object[]> SpeedSweepCases()
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{
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yield return ["2026042802-0.5.pcap", 0.5, 1851, 14.800309];
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yield return ["2026042802-0.7.pcap", 0.7, 1322, 10.568313];
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yield return ["2026042802-1.pcap", 1.0, 926, 7.400125];
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}
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/// <summary>
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/// 验证 speed=0.5/0.7/1.0 三份真实抓包都符合当前运行时采用的发送点生成规则。
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/// </summary>
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[Theory]
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[MemberData(nameof(SpeedSweepCases))]
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public void CapturedJ519Run_ReplaysJointDetailTrajectoryWithSpeedRatio(
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string pcapFileName,
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double speedRatio,
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int expectedPointCount,
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double expectedSendDurationSeconds)
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{
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var repositoryRoot = FindRepositoryRoot();
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var pcapPath = Path.Combine(repositoryRoot, "Rvbust", "uttc-20260428", pcapFileName);
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var jointDetailPath = Path.Combine(repositoryRoot, "Rvbust", "uttc-20260428", "Data", "JointDetialTraj.txt");
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var packets = ParsePcapUdp(pcapPath);
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var hostPort = DetectHostJ519Port(packets);
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var commands = ParseJ519Commands(packets, hostPort);
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var responses = ParseJ519Responses(packets, hostPort);
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var responseSegment = LongestStatusSegment(responses, status: 15);
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var jointRows = ReadJointDetail(jointDetailPath);
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var expected = GenerateExpectedPoints(jointRows, speedRatio);
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var commandBySequence = new Dictionary<uint, CapturedJ519Command>();
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var duplicateSequenceCount = 0;
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foreach (var command in commands)
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{
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if (!commandBySequence.TryAdd(command.Sequence, command))
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{
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duplicateSequenceCount++;
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}
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}
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var (startSequence, windowRms) = FindBestCommandWindow(commandBySequence, expected, responseSegment, searchRadius: 32);
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var actualRun = Enumerable
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.Range(0, expected.Length)
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.Select(index => commandBySequence[startSequence + (uint)index])
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.ToArray();
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var comparison = Compare(actualRun, expected);
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Assert.Equal(464, jointRows.Length);
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Assert.Equal(expectedPointCount, expected.Length);
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Assert.Equal(expectedPointCount, actualRun.Length);
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Assert.Equal(0, duplicateSequenceCount);
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Assert.Equal(17, comparison.IoSetPulses);
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Assert.Equal(17, comparison.IoClearFrames);
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Assert.Equal(
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new ushort[] { 10, 12, 14 },
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actualRun
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.Where(static command => command.WriteIoMask != 0)
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.Select(static command => command.WriteIoMask)
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.Distinct()
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.Order()
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.ToArray());
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Assert.True(responseSegment.Length >= expectedPointCount - 1, $"status=15 segment too short: {responseSegment.Length}");
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Assert.InRange((long)responseSegment[0].Sequence - startSequence, 2, 8);
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Assert.All(actualRun, static command => Assert.Equal(0, command.LastData));
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for (var index = 0; index < actualRun.Length; index++)
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{
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Assert.Equal(startSequence + (uint)index, actualRun[index].Sequence);
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}
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Assert.True(windowRms < 0.012, $"J519 global RMS {windowRms:F9} deg exceeds tolerance.");
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Assert.True(comparison.GlobalMaxAbsDeg < 0.07, $"J519 max abs diff {comparison.GlobalMaxAbsDeg:F9} deg exceeds tolerance.");
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var sendDuration = actualRun[^1].TimeRelativeSeconds - actualRun[0].TimeRelativeSeconds;
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Assert.InRange(sendDuration, expectedSendDurationSeconds - 0.04, expectedSendDurationSeconds + 0.04);
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}
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private static string FindRepositoryRoot()
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{
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var directory = new DirectoryInfo(AppContext.BaseDirectory);
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while (directory is not null)
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{
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var jointDetailPath = Path.Combine(directory.FullName, "Rvbust", "uttc-20260428", "Data", "JointDetialTraj.txt");
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if (File.Exists(jointDetailPath))
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{
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return directory.FullName;
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}
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directory = directory.Parent;
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}
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throw new DirectoryNotFoundException("Cannot locate repository root containing Rvbust/uttc-20260428/Data/JointDetialTraj.txt.");
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}
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private static IReadOnlyList<UdpPacket> ParsePcapUdp(string path)
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{
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using var stream = File.OpenRead(path);
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var header = new byte[24];
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stream.ReadExactly(header);
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var magic = header.AsSpan(0, 4);
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var bigEndian = false;
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var timestampScale = 1_000_000.0;
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if (magic.SequenceEqual(new byte[] { 0xd4, 0xc3, 0xb2, 0xa1 }))
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{
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bigEndian = false;
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}
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else if (magic.SequenceEqual(new byte[] { 0xa1, 0xb2, 0xc3, 0xd4 }))
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{
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bigEndian = true;
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}
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else if (magic.SequenceEqual(new byte[] { 0x4d, 0x3c, 0xb2, 0xa1 }))
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{
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bigEndian = false;
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timestampScale = 1_000_000_000.0;
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}
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else if (magic.SequenceEqual(new byte[] { 0xa1, 0xb2, 0x3c, 0x4d }))
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{
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bigEndian = true;
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timestampScale = 1_000_000_000.0;
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}
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else
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{
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throw new InvalidDataException($"Unsupported pcap magic: {Convert.ToHexString(header.AsSpan(0, 4))}");
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}
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var linkType = ReadUInt32(header.AsSpan(20, 4), bigEndian);
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if (linkType != 1)
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{
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throw new InvalidDataException($"Only Ethernet pcap is supported, got linktype {linkType}.");
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}
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var packets = new List<UdpPacket>();
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var recordHeader = new byte[16];
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double? firstTimestamp = null;
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var frameNumber = 0;
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while (ReadFullOrEnd(stream, recordHeader))
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{
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frameNumber++;
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var tsSec = ReadUInt32(recordHeader.AsSpan(0, 4), bigEndian);
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var tsFraction = ReadUInt32(recordHeader.AsSpan(4, 4), bigEndian);
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var includedLength = ReadUInt32(recordHeader.AsSpan(8, 4), bigEndian);
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var packet = new byte[includedLength];
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stream.ReadExactly(packet);
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var timestamp = tsSec + (tsFraction / timestampScale);
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firstTimestamp ??= timestamp;
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var udp = ParseEthernetIpv4Udp(packet, frameNumber, timestamp - firstTimestamp.Value);
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if (udp is not null)
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{
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packets.Add(udp);
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}
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}
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return packets;
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}
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private static bool ReadFullOrEnd(Stream stream, byte[] buffer)
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{
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var offset = 0;
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while (offset < buffer.Length)
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{
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var read = stream.Read(buffer, offset, buffer.Length - offset);
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if (read == 0)
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{
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if (offset == 0)
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{
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return false;
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}
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throw new EndOfStreamException("Truncated pcap record header.");
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}
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offset += read;
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}
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return true;
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}
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private static UdpPacket? ParseEthernetIpv4Udp(byte[] packet, int frameNumber, double timeRelativeSeconds)
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{
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if (packet.Length < 14)
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{
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return null;
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}
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var offset = 14;
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var etherType = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(12, 2));
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if (etherType == 0x8100)
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{
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if (packet.Length < 18)
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{
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return null;
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}
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etherType = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(16, 2));
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offset = 18;
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}
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if (etherType != 0x0800 || packet.Length < offset + 20)
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{
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return null;
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}
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var versionIhl = packet[offset];
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var version = versionIhl >> 4;
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var ihl = (versionIhl & 0x0f) * 4;
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if (version != 4 || ihl < 20 || packet.Length < offset + ihl)
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{
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return null;
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}
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var protocol = packet[offset + 9];
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if (protocol != 17)
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{
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return null;
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}
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var totalLength = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(offset + 2, 2));
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var udpOffset = offset + ihl;
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if (packet.Length < udpOffset + 8)
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{
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return null;
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}
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var sourcePort = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(udpOffset, 2));
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var destinationPort = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(udpOffset + 2, 2));
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var udpLength = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(udpOffset + 4, 2));
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var payloadOffset = udpOffset + 8;
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var payloadLength = Math.Max(0, Math.Min(udpLength - 8, totalLength - ihl - 8));
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if (packet.Length < payloadOffset + payloadLength)
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{
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return null;
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}
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return new UdpPacket(
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frameNumber,
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timeRelativeSeconds,
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sourcePort,
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destinationPort,
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packet.AsSpan(payloadOffset, payloadLength).ToArray());
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}
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private static ushort DetectHostJ519Port(IEnumerable<UdpPacket> packets)
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{
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return packets
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.Where(static packet => packet.DestinationPort == RobotJ519Port && packet.Payload.Length == FanucJ519Protocol.CommandPacketLength)
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.GroupBy(static packet => packet.SourcePort)
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.OrderByDescending(static group => group.Count())
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.Select(static group => group.Key)
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.First();
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}
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private static CapturedJ519Command[] ParseJ519Commands(IEnumerable<UdpPacket> packets, ushort hostPort)
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{
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return packets
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.Where(packet =>
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packet.SourcePort == hostPort
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&& packet.DestinationPort == RobotJ519Port
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&& packet.Payload.Length == FanucJ519Protocol.CommandPacketLength)
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.Select(ParseCommand)
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.Where(static command => command is not null)
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.Cast<CapturedJ519Command>()
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.ToArray();
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}
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private static CapturedJ519Command? ParseCommand(UdpPacket packet)
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{
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var payload = packet.Payload;
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var messageType = BinaryPrimitives.ReadUInt32BigEndian(payload.AsSpan(0x00, 4));
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var version = BinaryPrimitives.ReadUInt32BigEndian(payload.AsSpan(0x04, 4));
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if (messageType != 1 || version != 1)
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{
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return null;
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}
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var targets = new double[9];
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for (var index = 0; index < targets.Length; index++)
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{
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targets[index] = BinaryPrimitives.ReadSingleBigEndian(payload.AsSpan(0x1c + (index * 4), 4));
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}
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return new CapturedJ519Command(
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packet.FrameNumber,
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packet.TimeRelativeSeconds,
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BinaryPrimitives.ReadUInt32BigEndian(payload.AsSpan(0x08, 4)),
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payload[0x0c],
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BinaryPrimitives.ReadUInt16BigEndian(payload.AsSpan(0x16, 2)),
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BinaryPrimitives.ReadUInt16BigEndian(payload.AsSpan(0x18, 2)),
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targets);
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}
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private static FanucJ519Response[] ParseJ519Responses(IEnumerable<UdpPacket> packets, ushort hostPort)
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{
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return packets
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.Where(packet =>
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packet.SourcePort == RobotJ519Port
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&& packet.DestinationPort == hostPort
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&& packet.Payload.Length == FanucJ519Protocol.ResponsePacketLength)
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.Select(packet => FanucJ519Protocol.ParseResponse(packet.Payload))
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.ToArray();
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}
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private static FanucJ519Response[] LongestStatusSegment(IEnumerable<FanucJ519Response> responses, byte status)
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{
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var best = new List<FanucJ519Response>();
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var current = new List<FanucJ519Response>();
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foreach (var response in responses)
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{
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if (response.Status == status)
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{
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current.Add(response);
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continue;
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}
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if (current.Count > best.Count)
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{
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best = current;
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}
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current = [];
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}
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return (current.Count > best.Count ? current : best).ToArray();
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}
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private static JointRow[] ReadJointDetail(string path)
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{
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return File.ReadLines(path)
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.Where(static line => !string.IsNullOrWhiteSpace(line) && !line.TrimStart().StartsWith('#'))
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.Select(static line =>
|
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{
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var values = line
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.Split((char[]?)null, StringSplitOptions.RemoveEmptyEntries)
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.Select(value => double.Parse(value, CultureInfo.InvariantCulture))
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.ToArray();
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return new JointRow(values[0], values.Skip(1).Take(JointCount).ToArray());
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})
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.ToArray();
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}
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private static ExpectedPoint[] GenerateExpectedPoints(IReadOnlyList<JointRow> rows, double speedRatio)
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{
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var durationSeconds = rows[^1].TimeSeconds;
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var trajectoryStepSeconds = ServoPeriodSeconds * speedRatio;
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var sampleCount = (int)Math.Floor((durationSeconds / trajectoryStepSeconds) + 1e-9) + 1;
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var points = new ExpectedPoint[sampleCount];
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var segmentIndex = 0;
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for (var index = 0; index < sampleCount; index++)
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{
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var trajectoryTime = Math.Min(index * trajectoryStepSeconds, durationSeconds);
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var jointsRad = Interpolate(rows, trajectoryTime, ref segmentIndex);
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points[index] = new ExpectedPoint(
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index,
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trajectoryTime,
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jointsRad.Select(static value => value * 180.0 / Math.PI).ToArray());
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}
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return points;
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}
|
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|
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private static double[] Interpolate(IReadOnlyList<JointRow> rows, double trajectoryTime, ref int segmentIndex)
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{
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if (rows.Count == 1 || trajectoryTime <= rows[0].TimeSeconds)
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{
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return rows[0].JointsRad.ToArray();
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}
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var lastIndex = rows.Count - 1;
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if (trajectoryTime >= rows[lastIndex].TimeSeconds)
|
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{
|
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return rows[lastIndex].JointsRad.ToArray();
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}
|
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|
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while (segmentIndex < lastIndex - 1 && rows[segmentIndex + 1].TimeSeconds < trajectoryTime)
|
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{
|
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segmentIndex++;
|
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}
|
||||
|
||||
var start = rows[segmentIndex];
|
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var end = rows[segmentIndex + 1];
|
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var duration = end.TimeSeconds - start.TimeSeconds;
|
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var alpha = duration <= 0.0 ? 0.0 : (trajectoryTime - start.TimeSeconds) / duration;
|
||||
var joints = new double[JointCount];
|
||||
for (var index = 0; index < joints.Length; index++)
|
||||
{
|
||||
joints[index] = start.JointsRad[index] + ((end.JointsRad[index] - start.JointsRad[index]) * alpha);
|
||||
}
|
||||
|
||||
return joints;
|
||||
}
|
||||
|
||||
private static (uint StartSequence, double RmsDeg) FindBestCommandWindow(
|
||||
IReadOnlyDictionary<uint, CapturedJ519Command> commandBySequence,
|
||||
IReadOnlyList<ExpectedPoint> expected,
|
||||
IReadOnlyList<FanucJ519Response> responseSegment,
|
||||
int searchRadius)
|
||||
{
|
||||
if (responseSegment.Count == 0)
|
||||
{
|
||||
throw new InvalidDataException("No status=15 response segment found.");
|
||||
}
|
||||
|
||||
var responseStartSequence = (long)responseSegment[0].Sequence;
|
||||
uint? bestStartSequence = null;
|
||||
var bestRms = double.PositiveInfinity;
|
||||
|
||||
for (var startSequence = responseStartSequence - searchRadius; startSequence <= responseStartSequence + searchRadius; startSequence++)
|
||||
{
|
||||
if (startSequence < 0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var differences = new List<double>(expected.Count * JointCount);
|
||||
var completeWindow = true;
|
||||
for (var index = 0; index < expected.Count; index++)
|
||||
{
|
||||
var sequence = (uint)(startSequence + index);
|
||||
if (!commandBySequence.TryGetValue(sequence, out var command))
|
||||
{
|
||||
completeWindow = false;
|
||||
break;
|
||||
}
|
||||
|
||||
for (var joint = 0; joint < JointCount; joint++)
|
||||
{
|
||||
differences.Add(command.TargetDegrees[joint] - expected[index].JointsDeg[joint]);
|
||||
}
|
||||
}
|
||||
|
||||
if (!completeWindow)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var rms = Rms(differences);
|
||||
if (rms < bestRms)
|
||||
{
|
||||
bestRms = rms;
|
||||
bestStartSequence = (uint)startSequence;
|
||||
}
|
||||
}
|
||||
|
||||
if (bestStartSequence is null)
|
||||
{
|
||||
throw new InvalidDataException("No complete command window found near the status=15 response segment.");
|
||||
}
|
||||
|
||||
return (bestStartSequence.Value, bestRms);
|
||||
}
|
||||
|
||||
private static ComparisonSummary Compare(IReadOnlyList<CapturedJ519Command> actual, IReadOnlyList<ExpectedPoint> expected)
|
||||
{
|
||||
var differences = new List<double>(actual.Count * JointCount);
|
||||
var maxAbs = 0.0;
|
||||
for (var index = 0; index < actual.Count; index++)
|
||||
{
|
||||
for (var joint = 0; joint < JointCount; joint++)
|
||||
{
|
||||
var difference = actual[index].TargetDegrees[joint] - expected[index].JointsDeg[joint];
|
||||
differences.Add(difference);
|
||||
maxAbs = Math.Max(maxAbs, Math.Abs(difference));
|
||||
}
|
||||
}
|
||||
|
||||
var ioSetPulses = actual.Count(command => command.WriteIoMask != 0 && command.WriteIoValue != 0);
|
||||
var ioClearFrames = actual.Count(command => command.WriteIoMask != 0 && command.WriteIoValue == 0);
|
||||
return new ComparisonSummary(Rms(differences), maxAbs, ioSetPulses, ioClearFrames);
|
||||
}
|
||||
|
||||
private static double Rms(IEnumerable<double> values)
|
||||
{
|
||||
var sum = 0.0;
|
||||
var count = 0;
|
||||
foreach (var value in values)
|
||||
{
|
||||
sum += value * value;
|
||||
count++;
|
||||
}
|
||||
|
||||
return count == 0 ? 0.0 : Math.Sqrt(sum / count);
|
||||
}
|
||||
|
||||
private static uint ReadUInt32(ReadOnlySpan<byte> value, bool bigEndian)
|
||||
{
|
||||
return bigEndian ? BinaryPrimitives.ReadUInt32BigEndian(value) : BinaryPrimitives.ReadUInt32LittleEndian(value);
|
||||
}
|
||||
|
||||
private sealed record UdpPacket(
|
||||
int FrameNumber,
|
||||
double TimeRelativeSeconds,
|
||||
ushort SourcePort,
|
||||
ushort DestinationPort,
|
||||
byte[] Payload);
|
||||
|
||||
private sealed record CapturedJ519Command(
|
||||
int FrameNumber,
|
||||
double TimeRelativeSeconds,
|
||||
uint Sequence,
|
||||
byte LastData,
|
||||
ushort WriteIoMask,
|
||||
ushort WriteIoValue,
|
||||
IReadOnlyList<double> TargetDegrees);
|
||||
|
||||
private sealed record JointRow(double TimeSeconds, IReadOnlyList<double> JointsRad);
|
||||
|
||||
private sealed record ExpectedPoint(int Index, double TrajectoryTimeSeconds, IReadOnlyList<double> JointsDeg);
|
||||
|
||||
private sealed record ComparisonSummary(double GlobalRmsDeg, double GlobalMaxAbsDeg, int IoSetPulses, int IoClearFrames);
|
||||
}
|
||||
Reference in New Issue
Block a user