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Merge commit '0952958af7685646cdbf2a4907c6e2ae59d4d352'

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yunxiao.zhu
2026-05-28 10:44:03 +08:00
parent 4eeaa3fef3
commit 35bdb08d11
144 changed files with 33730 additions and 392 deletions
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285
tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs
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@@ -1,37 +1,39 @@
using Flyshot.Core.Config;
using Flyshot.Core.Domain;
namespace Flyshot.Core.Tests;
/// <summary>
/// 锁定 Task 3 的兼容输入行为，确保旧配置、.robot 元数据和路径策略都能被稳定加载。
/// 锁定 Task 3 的兼容输入行为，确保旧配置、JSON 模型元数据和路径策略都能被稳定加载。
/// </summary>
public sealed class ConfigCompatibilityTests
{
/// <summary>
/// 验证现有 RobotConfig.json 能被加载，并保持关键机器人参数与飞拍程序内容不变。
/// 验证现有旧样本配置能被加载，并保持关键机器人参数与飞拍程序内容不变。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsLegacyRobotConfig_AndPreservesPrograms()
{
var workspaceRoot = GetWorkspaceRoot();
var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "RobotConfig.json");
var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "EOL10_EAU_0.json");
var loaded = new RobotConfigLoader().Load(configPath);
Assert.True(loaded.Robot.UseDo);
Assert.Equal([7, 8], loaded.Robot.IoAddresses);
Assert.Equal(2, loaded.Robot.IoKeepCycles);
Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
Assert.Equal(1.0, loaded.Robot.AccLimitScale);
Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
Assert.True(loaded.Robot.SmoothStartStopTiming);
Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
var program = Assert.Contains("001", loaded.Programs);
Assert.Equal("001", program.Name);
Assert.Equal(5, program.Waypoints.Count);
Assert.Equal(3, program.ShotWaypointCount);
var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
Assert.Equal("EOL10_EAU_0", program.Name);
Assert.Equal(45, program.Waypoints.Count);
Assert.Equal(42, program.ShotWaypointCount);
Assert.Empty(program.AddressGroups[0].Addresses);
Assert.Equal([8, 7], program.AddressGroups[1].Addresses);
Assert.Equal([4, 3], program.AddressGroups[1].Addresses);
}
/// <summary>
@@ -69,8 +71,12 @@ public sealed class ConfigCompatibilityTests
Assert.False(loaded.Robot.UseDo);
Assert.Empty(loaded.Robot.IoAddresses);
Assert.Equal(3, loaded.Robot.IoKeepCycles);
Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
Assert.Equal(0.5, loaded.Robot.AccLimitScale);
Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
Assert.Equal(1.0, loaded.Robot.SpeedRatio);
Assert.True(loaded.Robot.SmoothStartStopTiming);
Assert.Equal([0, 0, 0], program.OffsetValues);
Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
}
@@ -81,13 +87,173 @@ public sealed class ConfigCompatibilityTests
}
/// <summary>
/// 验证 .robot 解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
/// 验证 RobotConfig.json 可以显式配置运行时默认速度倍率，供 MoveJoint 和后续执行链路初始化使用。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsRuntimeSpeedRatio()
{
var tempRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(tempRoot, "legacy.json");
File.WriteAllText(
configPath,
"""
{
"robot": {
"use_do": true,
"io_keep_cycles": 2,
"acc_limit": 1.0,
"jerk_limit": 1.0,
"speed_ratio": 0.65
},
"flying_shots": {
"demo": {
"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
"shot_flags": [false, false, false, false]
}
}
}
""");
var loaded = new RobotConfigLoader().Load(configPath);
Assert.Equal(0.65, loaded.Robot.SpeedRatio, precision: 6);
}
finally
{
Directory.Delete(tempRoot, recursive: true);
}
}
/// <summary>
/// 验证 RobotConfig.json 可以显式配置规划限速倍率，且该倍率独立于运行时 J519 速度倍率。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsPlanningSpeedScale()
{
var tempRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(tempRoot, "legacy.json");
File.WriteAllText(
configPath,
"""
{
"robot": {
"use_do": true,
"io_keep_cycles": 2,
"acc_limit": 1.0,
"jerk_limit": 1.0,
"planning_speed_scale": 0.742277
},
"flying_shots": {
"demo": {
"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
"shot_flags": [false, false, false, false]
}
}
}
""");
var loaded = new RobotConfigLoader().Load(configPath);
Assert.Equal(0.742277, loaded.Robot.PlanningSpeedScale, precision: 6);
}
finally
{
Directory.Delete(tempRoot, recursive: true);
}
}
/// <summary>
/// 验证 RobotConfig.json 可以显式配置触发绑定后的命令 sample 后移周期数。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsTriggerSampleIndexOffsetCycles()
{
var tempRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(tempRoot, "legacy.json");
File.WriteAllText(
configPath,
"""
{
"robot": {
"use_do": true,
"io_keep_cycles": 2,
"trigger_sample_index_offset_cycles": 8,
"acc_limit": 1.0,
"jerk_limit": 1.0
},
"flying_shots": {
"demo": {
"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
"shot_flags": [false, false, false, false]
}
}
}
""");
var loaded = new RobotConfigLoader().Load(configPath);
Assert.Equal(8, loaded.Robot.TriggerSampleIndexOffsetCycles);
}
finally
{
Directory.Delete(tempRoot, recursive: true);
}
}
/// <summary>
/// 验证 RobotConfig.json 可以关闭飞拍执行前的二次平滑起停时间重映射。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsSmoothStartStopTimingSwitch()
{
var tempRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(tempRoot, "legacy.json");
File.WriteAllText(
configPath,
"""
{
"robot": {
"use_do": true,
"io_keep_cycles": 2,
"acc_limit": 1.0,
"jerk_limit": 1.0,
"smooth_start_stop_timing": false
},
"flying_shots": {
"demo": {
"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
"shot_flags": [false, false, false, false]
}
}
}
""");
var loaded = new RobotConfigLoader().Load(configPath);
Assert.False(loaded.Robot.SmoothStartStopTiming);
}
finally
{
Directory.Delete(tempRoot, recursive: true);
}
}
/// <summary>
/// 验证 JSON 模型解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
/// </summary>
[Fact]
public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
{
var workspaceRoot = GetWorkspaceRoot();
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
var replacementRoot = GetReplacementRoot();
var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
var profile = new RobotModelLoader().LoadProfile(modelPath);
@@ -105,13 +271,13 @@ public sealed class ConfigCompatibilityTests
}
/// <summary>
/// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到模型关节限制上。
/// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到 JSON 模型关节限制上。
/// </summary>
[Fact]
public void RobotModelLoader_AppliesAccelerationAndJerkScales()
{
var workspaceRoot = GetWorkspaceRoot();
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
var replacementRoot = GetReplacementRoot();
var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
@@ -120,10 +286,57 @@ public sealed class ConfigCompatibilityTests
}
/// <summary>
/// 验证路径兼容层既能补旧目录候选，也能按平台策略生成默认用户数据目录。
/// 验证 JSON 模型可一次解析后同时生成规划约束视图和运动学几何视图。
/// </summary>
[Fact]
public void PathCompatibility_ResolvesLegacyCandidates_AndBuildsUserDataRoots()
public void RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
{
var replacementRoot = GetReplacementRoot();
var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
var loaded = new RobotModelLoader().LoadProfileAndKinematics(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.Profile.Name);
Assert.Equal(modelPath, loaded.Profile.ModelPath);
Assert.Equal(6, loaded.Profile.DegreesOfFreedom);
Assert.Equal(14.905, loaded.Profile.JointLimits[2].AccelerationLimit, precision: 3);
Assert.Equal(62.115, loaded.Profile.JointLimits[2].JerkLimit, precision: 3);
Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.KinematicsModel.Name);
Assert.True(loaded.KinematicsModel.Joints.Count >= loaded.Profile.DegreesOfFreedom);
Assert.Contains(loaded.KinematicsModel.Joints, static joint => joint.Name == "Joint3" && joint.CoupleMaster == "Joint2");
}
/// <summary>
/// 验证路径兼容层只从当前服务配置目录解析相对配置，并按平台策略生成默认用户数据目录。
/// </summary>
[Fact]
public void PathCompatibility_ResolvesConfigDirectoryOnly_AndBuildsUserDataRoots()
{
var tempRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(tempRoot, "Config", "sample.json");
Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
File.WriteAllText(configPath, "{}");
var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
Assert.Equal(configPath, resolved);
Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
}
finally
{
Directory.Delete(tempRoot, recursive: true);
}
}
/// <summary>
/// 验证旧父工作区候选路径存在时也不会被相对配置解析隐式命中。
/// </summary>
[Fact]
public void PathCompatibility_DoesNotResolveLegacyWorkspaceFallbacks()
{
var tempRoot = CreateTempDirectory();
try
@@ -132,11 +345,9 @@ public sealed class ConfigCompatibilityTests
Directory.CreateDirectory(Path.GetDirectoryName(legacyConfigPath)!);
File.WriteAllText(legacyConfigPath, "{}");
var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
var exception = Assert.Throws<FileNotFoundException>(() => PathCompatibility.ResolveConfigPath("sample.json", tempRoot));
Assert.Equal(legacyConfigPath, resolved);
Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
Assert.Equal("sample.json", exception.FileName);
}
finally
{
@@ -144,6 +355,19 @@ public sealed class ConfigCompatibilityTests
}
}
/// <summary>
/// 验证默认加载配置时使用当前 replacement 仓库内的 Config/RobotConfig.json。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsRepositoryConfigFromReplacementConfigDirectory()
{
var replacementRoot = GetReplacementRoot();
var loaded = new RobotConfigLoader().Load("RobotConfig.json");
Assert.Equal(Path.Combine(replacementRoot, "Config", "RobotConfig.json"), loaded.SourcePath);
}
/// <summary>
/// 定位当前工作区根目录，便于复用父仓库中的真实样本。
/// </summary>
@@ -164,6 +388,25 @@ public sealed class ConfigCompatibilityTests
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
}
/// <summary>
/// 定位 replacement 仓库根目录，供测试读取仓库内固化配置。
/// </summary>
private static string GetReplacementRoot()
{
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return current.FullName;
}
current = current.Parent;
}
throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
}
/// <summary>
/// 创建当前测试专用的临时目录，避免不同测试之间相互污染。
/// </summary>