✨ feat(server): 添加服务启动自动初始化机器人功能
* 在 ControllerClientCompatOptions 中新增 AutoInitOptions 配置模型 * 创建 AutoInitRobotHostedService 实现启动时自动初始化链路 * 在 appsettings.json 的 ControllerClientCompat.AutoInit 节配置 RobotName 和 RobotIp * 启动时依次执行 SetUpRobot → SetActiveController → Connect → EnableRobot；配置缺失或连接失败不阻止服务启动 * 更新 README.md 和现场工作流文档
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@@ -60,15 +60,20 @@ public sealed class FanucControllerRuntimeDenseTests
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(3, commands.Count);
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Assert.Equal(4, commands.Count);
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Assert.All(commands, static command => Assert.Equal(0u, command.Sequence));
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var expectedJ1Targets = new[] { 0.0, 0.08, 0.16 };
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var actualJ1Targets = commands.Select(static command => command.TargetJoints[0]).ToArray();
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var actualJ1Targets = commands.Take(3).Select(static command => command.TargetJoints[0]).ToArray();
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Assert.Equal(expectedJ1Targets.Length, actualJ1Targets.Length);
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for (var index = 0; index < expectedJ1Targets.Length; index++)
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{
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Assert.Equal(expectedJ1Targets[index], actualJ1Targets[index], precision: 6);
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}
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Assert.All(commands.Take(3), static command => Assert.Equal(0, command.LastData));
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Assert.Equal(1, commands[^1].LastData);
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Assert.Equal(0, commands[^1].WriteIoMask);
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Assert.Equal(0, commands[^1].WriteIoValue);
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Assert.Equal(0.16, commands[^1].TargetJoints[0], precision: 6);
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Assert.False(j519Client.IsCommandQueueDrainedForTests());
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}
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@@ -114,12 +119,12 @@ public sealed class FanucControllerRuntimeDenseTests
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denseJointTrajectory: denseTrajectory);
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var executeTask = Task.Run(() => runtime.ExecuteTrajectory(result, [DegreesToRadians(0.16), 0.0, 0.0, 0.0, 0.0, 0.0]), cts.Token);
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await WaitUntilAsync(() => j519Client.GetCommandHistoryForTests().Count == 3, cts.Token);
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await WaitUntilAsync(() => j519Client.GetCommandHistoryForTests().Count == 4, cts.Token);
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// 只有机器人状态包把队列全部取出后，ExecuteTrajectory 才能向上层返回。
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Assert.False(executeTask.IsCompleted);
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for (uint sequence = 100; sequence < 103; sequence++)
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for (uint sequence = 100; sequence < 104; sequence++)
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{
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await SendStatusPacketAsync(server, initResult.RemoteEndPoint, sequence, cts.Token);
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_ = await server.ReceiveAsync(cts.Token);
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@@ -190,9 +195,9 @@ public sealed class FanucControllerRuntimeDenseTests
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var timingLines = File.ReadAllLines(timingPath);
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var jerkLines = File.ReadAllLines(jerkPath);
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var shotEventsJson = File.ReadAllText(shotEventsPath);
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Assert.Equal(commands.Count, pointLines.Length);
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Assert.Equal(commands.Count, timingLines.Length);
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Assert.Equal(Math.Max(0, commands.Count - 1), jerkLines.Length);
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Assert.Equal(denseTrajectory.Length, pointLines.Length);
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Assert.Equal(denseTrajectory.Length, timingLines.Length);
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Assert.Equal(Math.Max(0, denseTrajectory.Length - 1), jerkLines.Length);
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var firstColumns = ParseColumns(pointLines[0]);
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var secondColumns = ParseColumns(pointLines[1]);
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@@ -216,7 +221,7 @@ public sealed class FanucControllerRuntimeDenseTests
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Assert.Equal(1.0, secondTimingColumns[0], precision: 6);
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Assert.Equal(0.008, secondTimingColumns[1], precision: 6);
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Assert.Equal(0.008, secondTimingColumns[2], precision: 6);
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Assert.Equal(commands.Count - 1, lastTimingColumns[0], precision: 6);
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Assert.Equal(denseTrajectory.Length - 1, lastTimingColumns[0], precision: 6);
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Assert.Equal(0.016, lastTimingColumns[2], precision: 6);
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var firstJerkColumns = ParseColumns(jerkLines[0]);
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@@ -395,10 +400,11 @@ public sealed class FanucControllerRuntimeDenseTests
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.NotEmpty(commands);
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Assert.Equal(preparedExecution.Samples.Count, commands.Count);
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Assert.Equal(speedRatio, preparedExecution.FinalSpeedRatio, precision: 6);
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Assert.Equal(preparedExecution.Samples.Count + 1, commands.Count);
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Assert.Equal(speedRatio, preparedExecution.RequestSpeedRatio, precision: 6);
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Assert.Equal(0, preparedExecution.StretchIterationCount);
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Assert.Equal(preparedExecution.Samples[0].JointsDegrees, commands[0].TargetJoints);
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Assert.Equal(1, commands[^1].LastData);
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}
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finally
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{
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@@ -469,8 +475,9 @@ public sealed class FanucControllerRuntimeDenseTests
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(preparedSamples.Length, commands.Count);
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Assert.Equal([1.0, 2.0, 3.0], commands.Select(static command => command.TargetJoints[0]));
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Assert.Equal(preparedSamples.Length + 1, commands.Count);
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Assert.Equal([1.0, 2.0, 3.0], commands.Take(preparedSamples.Length).Select(static command => command.TargetJoints[0]));
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Assert.Equal(1, commands[^1].LastData);
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}
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/// <summary>
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@@ -523,17 +530,57 @@ public sealed class FanucControllerRuntimeDenseTests
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(expectedResult.DenseJointTrajectory!.Count, commands.Count);
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Assert.Equal(expectedResult.DenseJointTrajectory!.Count + 1, commands.Count);
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AssertJointDegreesEqual(startJoints, commands[0].TargetJoints);
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AssertJointDegreesEqual(targetJoints, commands[^1].TargetJoints);
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Assert.Equal(1, commands[^1].LastData);
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Assert.All(commands.Take(commands.Count - 1), static command => Assert.Equal(0, command.LastData));
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var middleAlpha = ComputeLineAlpha(commands[commands.Count / 2].TargetJoints, startJoints, targetJoints);
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var middleAlpha = ComputeLineAlpha(commands[(commands.Count - 1) / 2].TargetJoints, startJoints, targetJoints);
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Assert.InRange(middleAlpha, 0.45, 0.55);
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var earlyAlpha = ComputeLineAlpha(commands[Math.Min(5, commands.Count - 1)].TargetJoints, startJoints, targetJoints);
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Assert.InRange(earlyAlpha, 0.0, 0.02);
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}
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/// <summary>
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/// 验证关闭命令流结束开关时，MoveJoint 保持旧队列长度和最终目标保持语义。
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/// </summary>
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[Fact]
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public void MoveJoint_RealMode_WithEndCommandStreamDisabled_KeepsLegacyQueueShape()
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{
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using var commandClient = new FanucCommandClient();
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using var stateClient = new FanucStateClient();
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using var j519Client = new FanucJ519Client(endCommandStreamAfterQueueDrained: false);
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using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
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var service = CreateCompatService(runtime);
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var startJoints = new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
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var targetJoints = new[] { 0.2, -0.1, 0.05, 0.0, 0.0, 0.1 };
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service.SetUpRobot("FANUC_LR_Mate_200iD");
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j519Client.EnableCommandHistoryForTests();
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ForceRealModeEnabled(runtime, speedRatio: 1.0);
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SetPrivateField(runtime, "_jointPositions", startJoints);
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var options = new ControllerClientCompatOptions
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{
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ConfigRoot = TestRobotFactory.GetConfigRoot()
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};
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var robot = new ControllerClientCompatRobotCatalog(options, new RobotModelLoader())
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.LoadProfile("FANUC_LR_Mate_200iD", accLimitScale: 1.0, jerkLimitScale: 1.0);
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var expectedResult = MoveJointTrajectoryGenerator.CreateResult(robot, startJoints, targetJoints, speedRatio: 1.0);
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service.MoveJoint(targetJoints);
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(expectedResult.DenseJointTrajectory!.Count, commands.Count);
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Assert.All(commands, static command => Assert.Equal(0, command.LastData));
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var currentCommand = j519Client.GetCurrentCommand();
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Assert.NotNull(currentCommand);
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AssertJointDegreesEqual(targetJoints, currentCommand.TargetJoints);
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}
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[Fact]
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public void MoveJointTrajectoryGenerator_LowerSpeedUsesFixedServoPeriodAndLongerPlannedDuration()
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{
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@@ -629,6 +676,10 @@ public sealed class FanucControllerRuntimeDenseTests
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Assert.All(commands, static command => Assert.Equal(0, command.DataStyle));
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AssertPoseEqual(startPose, commands[0].TargetValues.Take(6).ToArray());
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AssertPoseEqual(targetPose, commands[^1].TargetValues.Take(6).ToArray());
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Assert.All(commands.Take(commands.Count - 1), static command => Assert.Equal(0, command.LastData));
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Assert.Equal(1, commands[^1].LastData);
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Assert.Equal(0, commands[^1].WriteIoMask);
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Assert.Equal(0, commands[^1].WriteIoValue);
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Assert.All(commands, static command =>
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{
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Assert.Equal(0.0, command.TargetValues[6], precision: 6);
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@@ -677,8 +728,9 @@ public sealed class FanucControllerRuntimeDenseTests
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(3, commands.Count);
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Assert.Equal(4, commands.Count);
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Assert.Equal(0.16, commands[^1].TargetJoints[0], precision: 6);
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Assert.Equal(1, commands[^1].LastData);
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}
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/// <summary>
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@@ -782,9 +834,12 @@ public sealed class FanucControllerRuntimeDenseTests
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(4, commands.Count);
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Assert.Equal([(ushort)0, (ushort)5, (ushort)5, (ushort)5], commands.Select(static command => command.WriteIoMask));
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Assert.Equal([(ushort)0, (ushort)5, (ushort)5, (ushort)0], commands.Select(static command => command.WriteIoValue));
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Assert.Equal(5, commands.Count);
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Assert.Equal([(ushort)0, (ushort)5, (ushort)5, (ushort)5], commands.Take(4).Select(static command => command.WriteIoMask));
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Assert.Equal([(ushort)0, (ushort)5, (ushort)5, (ushort)0], commands.Take(4).Select(static command => command.WriteIoValue));
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Assert.Equal(1, commands[^1].LastData);
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Assert.Equal(0, commands[^1].WriteIoMask);
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Assert.Equal(0, commands[^1].WriteIoValue);
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}
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/// <summary>
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@@ -837,9 +892,12 @@ public sealed class FanucControllerRuntimeDenseTests
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WaitUntilIdle(runtime);
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var commands = j519Client.GetCommandHistoryForTests();
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Assert.Equal(4, commands.Count);
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Assert.Equal([(ushort)0, (ushort)0, (ushort)1, (ushort)1], commands.Select(static command => command.WriteIoMask));
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Assert.Equal([(ushort)0, (ushort)0, (ushort)1, (ushort)0], commands.Select(static command => command.WriteIoValue));
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Assert.Equal(5, commands.Count);
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Assert.Equal([(ushort)0, (ushort)0, (ushort)1, (ushort)1], commands.Take(4).Select(static command => command.WriteIoMask));
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Assert.Equal([(ushort)0, (ushort)0, (ushort)1, (ushort)0], commands.Take(4).Select(static command => command.WriteIoValue));
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Assert.Equal(1, commands[^1].LastData);
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Assert.Equal(0, commands[^1].WriteIoMask);
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Assert.Equal(0, commands[^1].WriteIoValue);
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}
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/// <summary>
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