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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>
This commit is contained in:
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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42
tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs
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@@ -194,6 +194,46 @@ public sealed class FanucJ519ClientTests : IDisposable
Assert.All(packets, packet => Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)), precision: 6));
}
/// <summary>
/// 验证预装命令队列会被机器人状态包逐帧出队，队列耗尽后继续保持最后目标。
/// </summary>
[Fact]
public async Task StartMotion_DequeuesPreparedCommandsForStatusPacketsAndHoldsLastCommand()
{
using var client = new FanucJ519Client();
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
var initResult = await _server.ReceiveAsync(_cts.Token);
client.StartMotion();
client.LoadCommandQueue(
[
new FanucJ519Command(sequence: 0, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
new FanucJ519Command(sequence: 0, targetJoints: [2.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
new FanucJ519Command(sequence: 0, targetJoints: [3.0, 0.0, 0.0, 0.0, 0.0, 0.0])
]);
var packets = new List<byte[]>();
for (uint sequence = 700; sequence < 704; sequence++)
{
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence);
var result = await _server.ReceiveAsync(_cts.Token);
packets.Add(result.Buffer);
}
await client.StopMotionAsync(_cts.Token);
var sequences = packets
.Select(packet => BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)))
.ToArray();
var firstJointTargets = packets
.Select(packet => BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)))
.ToArray();
Assert.Equal([700u, 701u, 702u, 703u], sequences);
Assert.Equal([1.0f, 2.0f, 3.0f, 3.0f], firstJointTargets);
Assert.True(client.IsCommandQueueDrainedForTests());
}
/// <summary>
/// 验证停止运动后可在同一连接内重启发送，命令序号仍由新的状态包决定。
/// </summary>
@@ -310,7 +350,7 @@ public sealed class FanucJ519ClientTests : IDisposable
logger.Entries,
entry => entry.Level == LogLevel.Information
&& entry.Message.Contains("J519 最后一条发送目标关节轴", StringComparison.Ordinal)
&& entry.Message.Contains("1.000, 2.000, 3.000, 4.000, 5.000, 6.000", StringComparison.Ordinal));
&& entry.Message.Contains("1.00000, 2.00000, 3.00000, 4.00000, 5.00000, 6.00000", StringComparison.Ordinal));
}
/// <summary>