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✨ feat(fanuc): 添加协议编解码与状态页" -m "* 固化 10010 状态帧、10012 命令帧和 60015 J519 包编解码

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* 扩展 ControllerClient 兼容层的执行参数和运行时编排
  * 新增 /status 页面与 /api/status/snapshot 状态快照接口
  * 补充 FANUC 协议、客户端和状态接口的最小验证测试
  * 更新 README、兼容要求和真机 Socket 通信实现计划
This commit is contained in:
yunxiao.zhu
2026-04-24 21:26:25 +08:00
parent 8a20d9f507
commit a78e6761cb
25 changed files with 3773 additions and 55 deletions
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148
src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
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@@ -18,6 +18,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
private string? _configuredRobotName;
private string? _connectedServerIp;
private int _connectedServerPort;
private bool _showTcp = true;
private double _showTcpAxisLength = 0.1;
private int _showTcpAxisSize = 2;
/// <summary>
/// 初始化一份 HTTP-only 的 ControllerClient 兼容服务。
@@ -79,6 +82,18 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
}
/// <inheritdoc />
public string GetServerVersion()
{
return ServerVersion;
}
/// <inheritdoc />
public string GetClientVersion()
{
return "flyshot-replacement-controller-client-compat/0.1.0";
}
/// <inheritdoc />
public void SetUpRobot(string robotName)
{
@@ -94,6 +109,41 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
}
/// <inheritdoc />
public void SetUpRobotFromEnv(string envFile)
{
if (string.IsNullOrWhiteSpace(envFile))
{
throw new ArgumentException("环境文件路径不能为空。", nameof(envFile));
}
throw new NotSupportedException("SetUpRobotFromEnv 尚未接入环境文件解析。");
}
/// <inheritdoc />
public void SetShowTcp(bool isShow, double axisLength, int axisSize)
{
if (axisLength <= 0.0)
{
throw new ArgumentOutOfRangeException(nameof(axisLength), "TCP 坐标轴长度必须大于 0。");
}
if (axisSize <= 0)
{
throw new ArgumentOutOfRangeException(nameof(axisSize), "TCP 坐标轴线宽必须大于 0。");
}
lock (_stateLock)
{
EnsureRobotSetup();
// 当前无 GUI 渲染层，先保存显示参数，保证旧 SDK 参数不会在 HTTP 边界丢失。
_showTcp = isShow;
_showTcpAxisLength = axisLength;
_showTcpAxisSize = axisSize;
}
}
/// <inheritdoc />
public void SetActiveController(bool sim)
{
@@ -159,6 +209,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
}
/// <inheritdoc />
public ControllerStateSnapshot GetControllerSnapshot()
{
return _runtime.GetSnapshot();
}
/// <inheritdoc />
public double GetSpeedRatio()
{
@@ -199,6 +255,29 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
}
/// <inheritdoc />
public IReadOnlyList<double> GetNearestIk(IReadOnlyList<double> pose, IReadOnlyList<double> seed)
{
ArgumentNullException.ThrowIfNull(pose);
ArgumentNullException.ThrowIfNull(seed);
lock (_stateLock)
{
EnsureRobotSetup();
if (pose.Count != 7)
{
throw new ArgumentException("位姿必须是 [x,y,z,qx,qy,qz,qw] 七元数组。", nameof(pose));
}
if (seed.Count != GetDegreesOfFreedom())
{
throw new ArgumentException("seed 关节数量必须与机器人自由度一致。", nameof(seed));
}
throw new NotSupportedException("GetNearestIK 尚未接入逆解求解器。");
}
}
/// <inheritdoc />
public void SetTcp(double x, double y, double z)
{
@@ -242,9 +321,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
/// <inheritdoc />
public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints)
public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints, TrajectoryExecutionOptions? options = null)
{
ArgumentNullException.ThrowIfNull(waypoints);
options ??= new TrajectoryExecutionOptions();
if (waypoints.Count == 0)
{
throw new ArgumentException("轨迹路点不能为空。", nameof(waypoints));
@@ -255,8 +335,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
var robot = RequireActiveRobot();
EnsureRuntimeEnabled();
// 普通轨迹必须先通过 ICSP 规划，再把规划结果交给运行时执行。
var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints);
// 普通轨迹必须按调用方指定 method 规划，再把规划结果交给运行时执行。
var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options);
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
}
@@ -294,8 +374,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
/// <inheritdoc />
public void ExecuteTrajectoryByName(string name)
public void ExecuteTrajectoryByName(string name, FlyshotExecutionOptions? options = null)
{
options ??= new FlyshotExecutionOptions();
if (string.IsNullOrWhiteSpace(name))
{
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
@@ -316,13 +397,68 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
}
// 已上传飞拍轨迹必须生成 shot timeline 后再交给运行时。
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory);
// 已上传飞拍轨迹必须按调用方指定 method 生成 shot timeline 后再交给运行时。
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options);
if (options.MoveToStart)
{
_runtime.ExecuteTrajectory(CreateImmediateMoveResult(), bundle.PlannedTrajectory.PlannedWaypoints[0].Positions);
}
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
}
}
/// <inheritdoc />
public void SaveTrajectoryInfo(string name, string method = "icsp")
{
if (string.IsNullOrWhiteSpace(name))
{
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
}
lock (_stateLock)
{
var robot = RequireActiveRobot();
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
{
throw new InvalidOperationException("FlyShot trajectory does not exist.");
}
// 当前阶段没有落地文件导出，先通过 saveTrajectory=true 走规划校验，避免静默接受非法参数。
_ = _trajectoryOrchestrator.PlanUploadedFlyshot(
robot,
trajectory,
new FlyshotExecutionOptions(saveTrajectory: true, method: method));
}
}
/// <inheritdoc />
public bool IsFlyshotTrajectoryValid(out TimeSpan duration, string name, string method = "icsp", bool saveTrajectory = false)
{
if (string.IsNullOrWhiteSpace(name))
{
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
}
lock (_stateLock)
{
var robot = RequireActiveRobot();
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
{
throw new InvalidOperationException("FlyShot trajectory does not exist.");
}
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
robot,
trajectory,
new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory));
duration = bundle.Result.Duration;
return bundle.Result.IsValid;
}
}
/// <inheritdoc />
public void DeleteTrajectory(string name)
{