✨ feat(fanuc): 优化 J519 实时下发与飞拍起停整形
- 改为高优先级 J519 接收线程与复用缓冲区发送链路 - 增加稠密执行前的 J519 就绪重试与状态诊断 - 修正程序状态响应字段顺序与 EnableRobot 默认参数 - 为飞拍轨迹补充平滑起停时间轴与首尾整形验证 - 补充真实运行配置、报警窗口与边界对比测试 - 同步更新限值文档、分析脚本与 .NET 8 SDK 固定配置
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namespace Flyshot.ControllerClientCompat;
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/// <summary>
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/// 对飞拍稠密关节轨迹的首尾采样点做速度整形，降低启动和结束时的单步角度变化。
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/// </summary>
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internal static class FlyshotTrajectoryEdgeShaper
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{
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/// <summary>
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/// 首尾整形默认覆盖的采样点数（含锚点）。
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/// </summary>
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internal const int DefaultEdgePointCount = 10;
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/// <summary>
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/// 对稠密关节轨迹做首尾整形，时间列保持不变，首段采用 ease-in，尾段采用 ease-out。
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/// </summary>
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/// <param name="denseJointTrajectory">输入稠密关节轨迹，每行格式为 [time, j1..jN]，关节单位为弧度。</param>
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/// <param name="maxEdgeStepDegrees">保留旧签名兼容调用方；当前实现不再按角度阈值扩窗。</param>
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/// <param name="maxWindowPoints">单侧整形覆盖的采样点数（含锚点），默认首尾各 10 点。</param>
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/// <returns>经过首尾整形后的新轨迹；若不满足整形条件则返回原轨迹副本。</returns>
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internal static IReadOnlyList<IReadOnlyList<double>> ShapeDenseJointTrajectory(
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IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
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double maxEdgeStepDegrees = 0.0,
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int maxWindowPoints = DefaultEdgePointCount)
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{
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ArgumentNullException.ThrowIfNull(denseJointTrajectory);
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if (denseJointTrajectory.Count == 0)
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{
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return Array.Empty<IReadOnlyList<double>>();
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}
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var copiedRows = denseJointTrajectory
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.Select(static row => row.ToArray())
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.ToArray();
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if (copiedRows.Length < 5 || maxWindowPoints < 2)
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{
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return copiedRows;
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}
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var lastIndex = copiedRows.Length - 1;
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var window = Math.Min(maxWindowPoints, lastIndex / 2);
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if (window < 2)
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{
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return copiedRows;
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}
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// 以原始轨迹为参考估计窗口边界的速度，并在位移累计量上做单段单调整形，
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// 目标是让首尾 10 点表现为更平滑的加减速，而不是硬匹配高阶导数导致振荡。
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var originalRows = copiedRows
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.Select(static row => row.ToArray())
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.ToArray();
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ApplyLeadingHermiteBlend(copiedRows, originalRows, window);
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ApplyTrailingHermiteBlend(copiedRows, originalRows, window);
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return copiedRows;
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}
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/// <summary>
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/// 对首段做单段 Hermite 累计位移整形：起点速度为 0，窗口末端按原轨迹边界速度接回中段。
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/// </summary>
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private static void ApplyLeadingHermiteBlend(double[][] rows, double[][] originalRows, int window)
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{
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var startRow = originalRows[0];
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var endRow = originalRows[window];
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var totalDuration = endRow[0] - startRow[0];
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if (totalDuration <= 0.0)
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{
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return;
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}
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for (var jointIndex = 1; jointIndex < startRow.Length; jointIndex++)
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{
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var delta = endRow[jointIndex] - startRow[jointIndex];
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if (Math.Abs(delta) <= 1e-12)
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{
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continue;
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}
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var endVelocity = EstimateVelocity(originalRows, window, jointIndex);
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var normalizedEndSlope = ClampNormalizedSlope((endVelocity * totalDuration) / delta);
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for (var index = 1; index < window; index++)
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{
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var normalizedTime = (rows[index][0] - startRow[0]) / totalDuration;
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var shapedValue = startRow[jointIndex]
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+ (delta * EvaluateHermiteProgress(normalizedTime, startSlope: 0.0, endSlope: normalizedEndSlope));
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var blendWeight = Math.Pow(1.0 - normalizedTime, 2.0);
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rows[index][jointIndex] = Lerp(originalRows[index][jointIndex], shapedValue, blendWeight);
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}
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}
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}
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/// <summary>
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/// 对尾段做单段 Hermite 累计位移整形：窗口起点按原轨迹边界速度接入，终点速度减到 0。
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/// </summary>
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private static void ApplyTrailingHermiteBlend(double[][] rows, double[][] originalRows, int window)
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{
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var startIndex = rows.Length - 1 - window;
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var startRow = originalRows[startIndex];
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var endRow = originalRows[^1];
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var totalDuration = endRow[0] - startRow[0];
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if (totalDuration <= 0.0)
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{
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return;
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}
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for (var jointIndex = 1; jointIndex < startRow.Length; jointIndex++)
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{
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var delta = endRow[jointIndex] - startRow[jointIndex];
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if (Math.Abs(delta) <= 1e-12)
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{
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continue;
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}
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var startVelocity = EstimateVelocity(originalRows, startIndex, jointIndex);
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var normalizedStartSlope = ClampNormalizedSlope((startVelocity * totalDuration) / delta);
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for (var index = 1; index < window; index++)
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{
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var normalizedTime = (rows[startIndex + index][0] - startRow[0]) / totalDuration;
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var shapedValue = startRow[jointIndex]
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+ (delta * EvaluateHermiteProgress(normalizedTime, startSlope: normalizedStartSlope, endSlope: 0.0));
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var blendWeight = Math.Pow(normalizedTime, 2.0);
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rows[startIndex + index][jointIndex] = Lerp(originalRows[startIndex + index][jointIndex], shapedValue, blendWeight);
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}
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}
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}
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/// <summary>
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/// 估算给定行在原始轨迹上的一阶导，首尾退化为单边差分。
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/// </summary>
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private static double EstimateVelocity(double[][] rows, int index, int jointIndex)
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{
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if (index <= 0)
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{
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var dt = rows[1][0] - rows[0][0];
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return dt <= 0.0 ? 0.0 : (rows[1][jointIndex] - rows[0][jointIndex]) / dt;
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}
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if (index >= rows.Length - 1)
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{
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var dt = rows[^1][0] - rows[^2][0];
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return dt <= 0.0 ? 0.0 : (rows[^1][jointIndex] - rows[^2][jointIndex]) / dt;
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}
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var previousDt = rows[index][0] - rows[index - 1][0];
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var nextDt = rows[index + 1][0] - rows[index][0];
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if (previousDt <= 0.0 || nextDt <= 0.0)
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{
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return 0.0;
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}
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var backward = (rows[index][jointIndex] - rows[index - 1][jointIndex]) / previousDt;
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var forward = (rows[index + 1][jointIndex] - rows[index][jointIndex]) / nextDt;
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return (backward + forward) / 2.0;
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}
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/// <summary>
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/// 估算给定行在原始轨迹上的二阶导，端点退化为 0 以避免放大边界噪声。
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/// </summary>
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private static double EstimateAcceleration(double[][] rows, int index, int jointIndex)
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{
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if (index <= 0 || index >= rows.Length - 1)
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{
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return 0.0;
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}
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var previousDt = rows[index][0] - rows[index - 1][0];
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var nextDt = rows[index + 1][0] - rows[index][0];
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if (previousDt <= 0.0 || nextDt <= 0.0)
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{
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return 0.0;
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}
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var backward = (rows[index][jointIndex] - rows[index - 1][jointIndex]) / previousDt;
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var forward = (rows[index + 1][jointIndex] - rows[index][jointIndex]) / nextDt;
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var averageDt = (previousDt + nextDt) / 2.0;
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return averageDt <= 0.0 ? 0.0 : (forward - backward) / averageDt;
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}
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/// <summary>
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/// 计算 Hermite 累计位移曲线在 0..1 归一化时间上的进度值。
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/// </summary>
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private static double EvaluateHermiteProgress(double normalizedTime, double startSlope, double endSlope)
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{
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var u = Math.Clamp(normalizedTime, 0.0, 1.0);
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var u2 = u * u;
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var u3 = u2 * u;
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var h00 = (2.0 * u3) - (3.0 * u2) + 1.0;
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var h10 = u3 - (2.0 * u2) + u;
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var h01 = (-2.0 * u3) + (3.0 * u2);
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var h11 = u3 - u2;
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return (h00 * 0.0) + (h10 * startSlope) + (h01 * 1.0) + (h11 * endSlope);
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}
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/// <summary>
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/// 把归一化边界斜率限制在单调 Hermite 常见的稳定区间内，避免过冲和窗口内振荡。
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/// </summary>
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private static double ClampNormalizedSlope(double normalizedSlope)
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{
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if (double.IsNaN(normalizedSlope) || double.IsInfinity(normalizedSlope))
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{
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return 0.0;
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}
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return Math.Clamp(normalizedSlope, 0.0, 3.0);
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}
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/// <summary>
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/// 在线性插值基础上做温和混合，避免首尾窗口为了追赶锚点而产生过大的局部跃度。
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/// </summary>
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private static double Lerp(double originalValue, double shapedValue, double weight)
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{
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var clampedWeight = Math.Clamp(weight, 0.0, 1.0);
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return originalValue + ((shapedValue - originalValue) * clampedWeight);
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}
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}
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