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✨ feat(fanuc): 改为按状态包驱动 J519 队列发送

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* 预生成稠密轨迹 J519 命令队列，等待机器人状态包逐帧出队
* 让 ExecuteTrajectory 在队列实际取完后返回，避免后台发送提前结束
* 新增 ActualSendTiming.txt，区分实发时间与 speed_ratio 采样时间
* 补充 J519 队列、等待完成和实发时间映射相关单元测试
* 同步文档中的 t_send / t_traj / speed_ratio 说明

Co-authored-by: Copilot <copilot@github.com>
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yunxiao.zhu
2026-05-06 12:57:56 +08:00
parent b1710e5d01
commit 783716ff44
15 changed files with 403 additions and 92 deletions
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@@ -397,3 +397,4 @@ FodyWeavers.xsd
# JetBrains Rider
*.sln.iml
Config/Data/*
.dotnet-home/*