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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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272
src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandProtocol.cs Normal file
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using System.Buffers.Binary;
using System.Text;
namespace Flyshot.Runtime.Fanuc.Protocol;
/// <summary>
/// 定义 FANUC TCP 10012 命令通道已经由抓包和逆向资料确认的消息号。
/// </summary>
public static class FanucCommandMessageIds
{
/// <summary>
/// 获取控制器程序状态的消息号。
/// </summary>
public const uint GetProgramStatus = 0x2003;
/// <summary>
/// 复位控制器的消息号。
/// </summary>
public const uint ResetRobot = 0x2100;
/// <summary>
/// 启动控制器程序的消息号。
/// </summary>
public const uint StartProgram = 0x2102;
/// <summary>
/// 停止控制器程序的消息号。
/// </summary>
public const uint StopProgram = 0x2103;
/// <summary>
/// 读取控制器 TCP 的消息号。
/// </summary>
public const uint GetTcp = 0x2200;
/// <summary>
/// 设置控制器 TCP 的消息号。
/// </summary>
public const uint SetTcp = 0x2201;
/// <summary>
/// 读取控制器速度倍率的消息号。
/// </summary>
public const uint GetSpeedRatio = 0x2206;
/// <summary>
/// 设置控制器速度倍率的消息号。
/// </summary>
public const uint SetSpeedRatio = 0x2207;
/// <summary>
/// 读取控制器 IO 的消息号。
/// </summary>
public const uint GetIo = 0x2208;
/// <summary>
/// 设置控制器 IO 的消息号。
/// </summary>
public const uint SetIo = 0x2209;
}
/// <summary>
/// 表示 FANUC TCP 10012 命令通道中只携带结果码的响应。
/// </summary>
public sealed class FanucCommandResultResponse
{
/// <summary>
/// 初始化命令结果响应。
/// </summary>
/// <param name="messageId">响应对应的消息号。</param>
/// <param name="resultCode">控制器返回的结果码。</param>
public FanucCommandResultResponse(uint messageId, uint resultCode)
{
MessageId = messageId;
ResultCode = resultCode;
}
/// <summary>
/// 获取响应对应的消息号。
/// </summary>
public uint MessageId { get; }
/// <summary>
/// 获取控制器返回的结果码。
/// </summary>
public uint ResultCode { get; }
/// <summary>
/// 获取当前响应是否表示成功。
/// </summary>
public bool IsSuccess => ResultCode == 0;
}
/// <summary>
/// 表示 FANUC TCP 10012 程序状态响应。
/// </summary>
public sealed class FanucProgramStatusResponse
{
/// <summary>
/// 初始化程序状态响应。
/// </summary>
/// <param name="messageId">响应对应的消息号。</param>
/// <param name="resultCode">控制器返回的结果码。</param>
/// <param name="programStatus">控制器程序状态。</param>
public FanucProgramStatusResponse(uint messageId, uint resultCode, uint programStatus)
{
MessageId = messageId;
ResultCode = resultCode;
ProgramStatus = programStatus;
}
/// <summary>
/// 获取响应对应的消息号。
/// </summary>
public uint MessageId { get; }
/// <summary>
/// 获取控制器返回的结果码。
/// </summary>
public uint ResultCode { get; }
/// <summary>
/// 获取控制器程序状态值。
/// </summary>
public uint ProgramStatus { get; }
/// <summary>
/// 获取当前响应是否表示成功。
/// </summary>
public bool IsSuccess => ResultCode == 0;
}
/// <summary>
/// 提供 FANUC TCP 10012 命令通道的基础封包与响应解析能力。
/// </summary>
public static class FanucCommandProtocol
{
/// <summary>
/// 将无业务体命令封装为 TCP 10012 二进制帧。
/// </summary>
/// <param name="messageId">命令消息号。</param>
/// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
public static byte[] PackEmptyCommand(uint messageId)
{
return PackFrame(messageId, ReadOnlySpan<byte>.Empty);
}
/// <summary>
/// 将程序名命令封装为 TCP 10012 二进制帧。
/// </summary>
/// <param name="messageId">命令消息号。</param>
/// <param name="programName">控制器程序名。</param>
/// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
public static byte[] PackProgramCommand(uint messageId, string programName)
{
if (string.IsNullOrWhiteSpace(programName))
{
throw new ArgumentException("程序名不能为空。", nameof(programName));
}
var programNameBytes = Encoding.ASCII.GetBytes(programName);
var body = new byte[sizeof(uint) + programNameBytes.Length];
BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(0, sizeof(uint)), (uint)programNameBytes.Length);
programNameBytes.CopyTo(body.AsSpan(sizeof(uint)));
return PackFrame(messageId, body);
}
/// <summary>
/// 解析只携带结果码的 TCP 10012 响应帧。
/// </summary>
/// <param name="frame">完整响应帧。</param>
/// <returns>命令结果响应。</returns>
public static FanucCommandResultResponse ParseResultResponse(ReadOnlySpan<byte> frame)
{
var messageId = ValidateAndReadMessageId(frame);
var body = GetBody(frame);
if (body.Length < sizeof(uint))
{
throw new InvalidDataException("FANUC 命令响应体长度不足。");
}
return new FanucCommandResultResponse(
messageId,
BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]));
}
/// <summary>
/// 解析 GetProgStatus 的 TCP 10012 响应帧。
/// </summary>
/// <param name="frame">完整响应帧。</param>
/// <returns>程序状态响应。</returns>
public static FanucProgramStatusResponse ParseProgramStatusResponse(ReadOnlySpan<byte> frame)
{
var messageId = ValidateAndReadMessageId(frame);
var body = GetBody(frame);
if (body.Length < sizeof(uint) * 2)
{
throw new InvalidDataException("FANUC 程序状态响应体长度不足。");
}
// 抓包样本中的字段顺序为 result_code 后接 prog_status。
var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
var programStatus = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
return new FanucProgramStatusResponse(messageId, resultCode, programStatus);
}
/// <summary>
/// 按 FANUC 命令通道 framing 规则封装完整帧。
/// </summary>
/// <param name="messageId">命令消息号。</param>
/// <param name="body">业务体。</param>
/// <returns>完整命令帧。</returns>
internal static byte[] PackFrame(uint messageId, ReadOnlySpan<byte> body)
{
var frameLength = 3 + sizeof(uint) + sizeof(uint) + body.Length + 3;
var frame = new byte[frameLength];
frame[0] = (byte)'d';
frame[1] = (byte)'o';
frame[2] = (byte)'z';
BinaryPrimitives.WriteUInt32BigEndian(frame.AsSpan(3, sizeof(uint)), (uint)frameLength);
BinaryPrimitives.WriteUInt32BigEndian(frame.AsSpan(7, sizeof(uint)), messageId);
body.CopyTo(frame.AsSpan(11));
frame[^3] = (byte)'z';
frame[^2] = (byte)'o';
frame[^1] = (byte)'d';
return frame;
}
/// <summary>
/// 校验完整帧并读取消息号。
/// </summary>
/// <param name="frame">完整响应帧。</param>
/// <returns>响应消息号。</returns>
private static uint ValidateAndReadMessageId(ReadOnlySpan<byte> frame)
{
if (frame.Length < 14)
{
throw new InvalidDataException("FANUC 命令帧长度不足。");
}
if (frame[0] != (byte)'d' || frame[1] != (byte)'o' || frame[2] != (byte)'z')
{
throw new InvalidDataException("FANUC 命令帧头 magic 不正确。");
}
if (frame[^3] != (byte)'z' || frame[^2] != (byte)'o' || frame[^1] != (byte)'d')
{
throw new InvalidDataException("FANUC 命令帧尾 magic 不正确。");
}
var declaredLength = BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(3, sizeof(uint)));
if (declaredLength != frame.Length)
{
throw new InvalidDataException("FANUC 命令帧长度字段与实际长度不一致。");
}
return BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(7, sizeof(uint)));
}
/// <summary>
/// 获取完整帧中的业务体切片。
/// </summary>
/// <param name="frame">完整响应帧。</param>
/// <returns>业务体切片。</returns>
private static ReadOnlySpan<byte> GetBody(ReadOnlySpan<byte> frame)
{
return frame.Slice(11, frame.Length - 14);
}
}