diff --git a/.claude/settings.local.json b/.claude/settings.local.json
index 760813e..7e69559 100644
--- a/.claude/settings.local.json
+++ b/.claude/settings.local.json
@@ -8,7 +8,8 @@
"Bash(DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal)",
"Bash(DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj --no-build -v minimal)",
"Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json'\\)\\); json.load\\(open\\('.vscode/tasks.json'\\)\\); print\\('JSON valid.'\\)\")",
- "Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json', encoding='utf-8'\\)\\); json.load\\(open\\('.vscode/tasks.json', encoding='utf-8'\\)\\); print\\('JSON valid.'\\)\")"
+ "Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json', encoding='utf-8'\\)\\); json.load\\(open\\('.vscode/tasks.json', encoding='utf-8'\\)\\); print\\('JSON valid.'\\)\")",
+ "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal')"
]
}
}
diff --git a/NLog.config b/NLog.config
index d2a3eaf..d9341a3 100644
--- a/NLog.config
+++ b/NLog.config
@@ -6,38 +6,35 @@
throwExceptions="false"
internalLogLevel="Off" >
-
-
-
+
-
+
+
+
-
-
-
-
+
+
-
-
+
+
-
-
+
+
+
+
+
diff --git a/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs b/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
index 8c7c5a9..96f3374 100644
--- a/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
+++ b/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
@@ -1,6 +1,7 @@
using Flyshot.Core.Config;
using Flyshot.Core.Domain;
using Flyshot.Runtime.Common;
+using Microsoft.Extensions.Logging;
namespace Flyshot.ControllerClientCompat;
@@ -17,6 +18,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
private readonly RobotConfigLoader _configLoader;
private readonly IFlyshotTrajectoryStore _trajectoryStore;
+ private readonly ILogger? _logger;
private RobotProfile? _activeRobotProfile;
private string? _configuredRobotName;
private CompatibilityRobotSettings? _robotSettings;
@@ -35,13 +37,15 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
/// 轨迹规划与触发编排器。
/// 旧版 RobotConfig.json 加载器。
/// 已上传轨迹持久化存储。
+ /// 日志记录器；允许测试直接构造时传入 null。
public ControllerClientCompatService(
ControllerClientCompatOptions options,
ControllerClientCompatRobotCatalog robotCatalog,
IControllerRuntime runtime,
ControllerClientTrajectoryOrchestrator trajectoryOrchestrator,
RobotConfigLoader configLoader,
- IFlyshotTrajectoryStore trajectoryStore)
+ IFlyshotTrajectoryStore trajectoryStore,
+ ILogger? logger = null)
{
_options = options ?? throw new ArgumentNullException(nameof(options));
_robotCatalog = robotCatalog ?? throw new ArgumentNullException(nameof(robotCatalog));
@@ -49,6 +53,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
_trajectoryOrchestrator = trajectoryOrchestrator ?? throw new ArgumentNullException(nameof(trajectoryOrchestrator));
_configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
_trajectoryStore = trajectoryStore ?? throw new ArgumentNullException(nameof(trajectoryStore));
+ _logger = logger;
}
///
@@ -90,6 +95,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
_connectedServerIp = serverIp;
_connectedServerPort = port;
}
+
+ _logger?.LogInformation("ConnectServer 完成: {ServerIp}:{Port}", serverIp, port);
}
///
@@ -107,6 +114,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
///
public void SetUpRobot(string robotName)
{
+ _logger?.LogInformation("SetUpRobot 开始: robotName={RobotName}", robotName);
+
var robotSettings = TryLoadRobotSettings() ?? CreateDefaultRobotSettings();
var robotProfile = _robotCatalog.LoadProfile(
robotName,
@@ -129,6 +138,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
_uploadedTrajectories[saved.Key] = saved.Value;
}
}
+
+ _logger?.LogInformation(
+ "SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, 恢复轨迹数={TrajCount}",
+ robotName,
+ robotProfile.DegreesOfFreedom,
+ robotSettings.AccLimitScale,
+ robotSettings.JerkLimitScale,
+ _uploadedTrajectories.Count);
}
///
@@ -184,11 +201,15 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new ArgumentException("控制器 IP 不能为空。", nameof(robotIp));
}
+ _logger?.LogInformation("Connect 开始: robotIp={RobotIp}", robotIp);
+
lock (_stateLock)
{
EnsureRobotSetup();
_runtime.Connect(robotIp);
}
+
+ _logger?.LogInformation("Connect 完成: robotIp={RobotIp}", robotIp);
}
///
@@ -204,31 +225,37 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
///
public void EnableRobot(int bufferSize)
{
+ _logger?.LogInformation("EnableRobot 开始: bufferSize={BufferSize}", bufferSize);
lock (_stateLock)
{
EnsureRobotSetup();
_runtime.EnableRobot(bufferSize);
}
+ _logger?.LogInformation("EnableRobot 完成");
}
///
public void DisableRobot()
{
+ _logger?.LogInformation("DisableRobot 开始");
lock (_stateLock)
{
EnsureRobotSetup();
_runtime.DisableRobot();
}
+ _logger?.LogInformation("DisableRobot 完成");
}
///
public void StopMove()
{
+ _logger?.LogInformation("StopMove 开始");
lock (_stateLock)
{
EnsureRobotSetup();
_runtime.StopMove();
}
+ _logger?.LogInformation("StopMove 完成");
}
///
@@ -335,6 +362,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
{
ArgumentNullException.ThrowIfNull(jointPositions);
+ _logger?.LogInformation("MoveJoint 开始: 目标关节数={JointCount}", jointPositions.Count);
+ _logger?.LogDebug("MoveJoint 目标关节: {Joints}", string.Join(", ", jointPositions.Select(j => j.ToString("F4"))));
+
lock (_stateLock)
{
var robot = RequireActiveRobot();
@@ -345,8 +375,15 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
var moveResult = MoveJointTrajectoryGenerator.CreateResult(robot, currentJointPositions, jointPositions, speedRatio);
+ _logger?.LogInformation(
+ "MoveJoint 规划完成: 当前速度倍率={SpeedRatio}, 规划时长={Duration}s, 采样点数={SampleCount}",
+ speedRatio,
+ moveResult.Duration.TotalSeconds,
+ moveResult.DenseJointTrajectory?.Count ?? 0);
_runtime.ExecuteTrajectory(moveResult, jointPositions);
}
+
+ _logger?.LogInformation("MoveJoint 完成");
}
///
@@ -359,6 +396,11 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new ArgumentException("轨迹路点不能为空。", nameof(waypoints));
}
+ _logger?.LogInformation("ExecuteTrajectory 开始: 路点数={WaypointCount}, method={Method}, saveTraj={SaveTraj}",
+ waypoints.Count, options.Method, options.SaveTrajectory);
+ _logger?.LogDebug("ExecuteTrajectory 路点详情: {Waypoints}",
+ string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Select(j => j.ToString("F4")))}]")));
+
lock (_stateLock)
{
var robot = RequireActiveRobot();
@@ -366,9 +408,17 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
// 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);
+ _logger?.LogInformation(
+ "ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}",
+ bundle.Result.Method,
+ bundle.Result.Duration.TotalSeconds,
+ bundle.Result.IsValid,
+ bundle.Result.DenseJointTrajectory?.Count ?? 0);
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
}
+
+ _logger?.LogInformation("ExecuteTrajectory 完成");
}
///
@@ -386,6 +436,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
{
ArgumentNullException.ThrowIfNull(trajectory);
+ _logger?.LogInformation(
+ "UploadTrajectory 开始: name={Name}, waypoints={WaypointCount}, shotFlags={ShotCount}",
+ trajectory.Name,
+ trajectory.Waypoints.Count,
+ trajectory.ShotFlags.Count(static f => f));
+
lock (_stateLock)
{
EnsureRuntimeEnabled();
@@ -395,6 +451,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
var settings = _robotSettings ?? CreateDefaultRobotSettings();
_trajectoryStore.Save(robotName, settings, trajectory);
}
+
+ _logger?.LogInformation("UploadTrajectory 完成: name={Name}", trajectory.Name);
}
///
@@ -415,6 +473,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
}
+ _logger?.LogInformation(
+ "ExecuteTrajectoryByName 开始: name={Name}, method={Method}, moveToStart={MoveToStart}, useCache={UseCache}",
+ name, options.Method, options.MoveToStart, options.UseCache);
+
lock (_stateLock)
{
var robot = RequireActiveRobot();
@@ -422,24 +484,37 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
{
+ _logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹不存在 name={Name}", name);
throw new InvalidOperationException("FlyShot trajectory does not exist.");
}
if (trajectory.Waypoints.Count == 0)
{
+ _logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹无路点 name={Name}", name);
throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
}
// 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, RequireRobotSettings());
+ _logger?.LogInformation(
+ "ExecuteTrajectoryByName 规划完成: name={Name}, method={Method}, 时长={Duration}s, 触发事件数={TriggerCount}, 使用缓存={UsedCache}",
+ name,
+ bundle.Result.Method,
+ bundle.Result.Duration.TotalSeconds,
+ bundle.Result.TriggerTimeline.Count,
+ bundle.Result.UsedCache);
+
if (options.MoveToStart)
{
+ _logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
_runtime.ExecuteTrajectory(CreateImmediateMoveResult(), bundle.PlannedTrajectory.PlannedWaypoints[0].Positions);
}
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
}
+
+ _logger?.LogInformation("ExecuteTrajectoryByName 完成: name={Name}", name);
}
///
@@ -450,11 +525,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
}
+ _logger?.LogInformation("SaveTrajectoryInfo 开始: name={Name}, method={Method}", name, method);
+
lock (_stateLock)
{
var robot = RequireActiveRobot();
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
{
+ _logger?.LogWarning("SaveTrajectoryInfo 失败: 轨迹不存在 name={Name}", name);
throw new InvalidOperationException("FlyShot trajectory does not exist.");
}
@@ -469,6 +547,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
var settings = _robotSettings ?? CreateDefaultRobotSettings();
_trajectoryStore.Save(robotName, settings, trajectory);
}
+
+ _logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);
}
///
@@ -479,11 +559,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
}
+ _logger?.LogInformation("IsFlyshotTrajectoryValid 开始: name={Name}, method={Method}", name, method);
+
lock (_stateLock)
{
var robot = RequireActiveRobot();
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
{
+ _logger?.LogWarning("IsFlyshotTrajectoryValid 失败: 轨迹不存在 name={Name}", name);
throw new InvalidOperationException("FlyShot trajectory does not exist.");
}
@@ -494,6 +577,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
RequireRobotSettings());
duration = bundle.Result.Duration;
+ _logger?.LogInformation(
+ "IsFlyshotTrajectoryValid 结果: name={Name}, valid={Valid}, duration={Duration}s",
+ name, bundle.Result.IsValid, duration.TotalSeconds);
return bundle.Result.IsValid;
}
}
@@ -506,16 +592,21 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
}
+ _logger?.LogInformation("DeleteTrajectory 开始: name={Name}", name);
+
lock (_stateLock)
{
if (!_uploadedTrajectories.Remove(name))
{
+ _logger?.LogWarning("DeleteTrajectory 失败: 轨迹不存在 name={Name}", name);
throw new InvalidOperationException("DeleteFlyShotTraj failed");
}
var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
_trajectoryStore.Delete(robotName, name);
}
+
+ _logger?.LogInformation("DeleteTrajectory 完成: name={Name}", name);
}
///
diff --git a/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs b/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs
index a7013ec..f0b1148 100644
--- a/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs
+++ b/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs
@@ -3,6 +3,7 @@ using Flyshot.Core.Domain;
using Flyshot.Core.Planning;
using Flyshot.Core.Planning.Sampling;
using Flyshot.Core.Triggering;
+using Microsoft.Extensions.Logging;
namespace Flyshot.ControllerClientCompat;
@@ -11,10 +12,22 @@ namespace Flyshot.ControllerClientCompat;
///
public sealed class ControllerClientTrajectoryOrchestrator
{
- private readonly ICspPlanner _icspPlanner = new();
- private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner = new();
+ private readonly ICspPlanner _icspPlanner;
+ private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
private readonly Dictionary _flyshotCache = new(StringComparer.Ordinal);
+ private readonly ILogger? _logger;
+
+ ///
+ /// 初始化轨迹编排器。
+ ///
+ /// 日志记录器；允许 null。
+ public ControllerClientTrajectoryOrchestrator(ILogger? logger = null)
+ {
+ _logger = logger;
+ _icspPlanner = new(logger: null);
+ _selfAdaptIcspPlanner = new(logger: null);
+ }
///
/// 对普通轨迹执行 ICSP 规划。
@@ -31,6 +44,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
ArgumentNullException.ThrowIfNull(waypoints);
options ??= new TrajectoryExecutionOptions();
+ _logger?.LogInformation(
+ "PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}",
+ waypoints.Count, options.Method);
+
var program = CreateProgram(
name: "ordinary-trajectory",
waypoints: waypoints,
@@ -49,6 +66,11 @@ public sealed class ControllerClientTrajectoryOrchestrator
var shotTimeline = new ShotTimeline(Array.Empty(), Array.Empty());
var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
+ _logger?.LogInformation(
+ "PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
+ result.Duration.TotalSeconds,
+ result.DenseJointTrajectory?.Count ?? 0);
+
return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
}
@@ -69,6 +91,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
options ??= new FlyshotExecutionOptions();
settings ??= CreateDefaultRobotSettings();
+ _logger?.LogInformation(
+ "PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}",
+ uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache);
+
var program = CreateProgram(
name: uploaded.Name,
waypoints: uploaded.Waypoints,
@@ -80,6 +106,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
var cacheKey = CreateFlyshotCacheKey(robot, uploaded, options, settings);
if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
{
+ _logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
// 命中缓存时只替换 TrajectoryResult 的 usedCache 标志，规划轨迹和触发时间轴保持不可变复用。
return new PlannedExecutionBundle(
cachedBundle.PlannedTrajectory,
@@ -104,6 +131,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
+ _logger?.LogInformation(
+ "PlanUploadedFlyshot 完成: name={Name}, 时长={Duration}s, 触发事件数={TriggerCount}, 采样点数={SampleCount}",
+ uploaded.Name, result.Duration.TotalSeconds, result.TriggerTimeline.Count, result.DenseJointTrajectory?.Count ?? 0);
+
if (options.UseCache)
{
_flyshotCache[cacheKey] = bundle;
diff --git a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
index 1cbcce6..7f54aff 100644
--- a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
+++ b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
@@ -2,6 +2,7 @@ using System.Text.Json;
using System.Text.Json.Nodes;
using Flyshot.Core.Config;
using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
namespace Flyshot.ControllerClientCompat;
@@ -41,16 +42,19 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
{
private readonly ControllerClientCompatOptions _options;
private readonly RobotConfigLoader _configLoader;
+ private readonly ILogger? _logger;
///
/// 初始化基于 JSON 文件的轨迹存储。
///
/// 兼容层基础配置，用于定位工作区根目录。
/// 旧版 RobotConfig.json 加载器，用于反序列化已保存的轨迹。
- public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader)
+ /// 日志记录器；允许 null。
+ public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader, ILogger? logger = null)
{
_options = options ?? throw new ArgumentNullException(nameof(options));
_configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
+ _logger = logger;
}
///
@@ -59,6 +63,12 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
ArgumentNullException.ThrowIfNull(settings);
ArgumentNullException.ThrowIfNull(trajectory);
+ _logger?.LogInformation(
+ "TrajectoryStore 保存轨迹: robot={RobotName}, name={TrajectoryName}, waypoints={WaypointCount}",
+ robotName,
+ trajectory.Name,
+ trajectory.Waypoints.Count);
+
var path = ResolveStorePath(robotName);
var directory = Path.GetDirectoryName(path)!;
Directory.CreateDirectory(directory);
@@ -92,6 +102,8 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
};
File.WriteAllText(path, root.ToJsonString(writeOptions));
+
+ _logger?.LogInformation("TrajectoryStore 轨迹已保存到 {Path}", path);
}
///
@@ -102,9 +114,12 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
}
+ _logger?.LogInformation("TrajectoryStore 删除轨迹: robot={RobotName}, name={TrajectoryName}", robotName, trajectoryName);
+
var path = ResolveStorePath(robotName);
if (!File.Exists(path))
{
+ _logger?.LogWarning("TrajectoryStore 删除失败: 文件不存在 {Path}", path);
return;
}
@@ -112,19 +127,27 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
var root = JsonNode.Parse(existingJson)?.AsObject();
if (root is null)
{
+ _logger?.LogWarning("TrajectoryStore 删除失败: 无法解析 JSON {Path}", path);
return;
}
if (root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) && flyingShotsNode is JsonObject flyingShotsObj)
{
- flyingShotsObj.Remove(trajectoryName);
-
- var writeOptions = new JsonSerializerOptions
+ var removed = flyingShotsObj.Remove(trajectoryName);
+ if (removed)
{
- WriteIndented = true,
- PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
- };
- File.WriteAllText(path, root.ToJsonString(writeOptions));
+ var writeOptions = new JsonSerializerOptions
+ {
+ WriteIndented = true,
+ PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
+ };
+ File.WriteAllText(path, root.ToJsonString(writeOptions));
+ _logger?.LogInformation("TrajectoryStore 轨迹已删除: {TrajectoryName}", trajectoryName);
+ }
+ else
+ {
+ _logger?.LogWarning("TrajectoryStore 删除失败: 轨迹不存在 {TrajectoryName}", trajectoryName);
+ }
}
}
@@ -134,12 +157,15 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
var path = ResolveStorePath(robotName);
if (!File.Exists(path))
{
+ _logger?.LogInformation("TrajectoryStore 无持久化数据: {Path}", path);
settings = null;
return new Dictionary(StringComparer.Ordinal);
}
try
{
+ _logger?.LogInformation("TrajectoryStore 正在加载: {Path}", path);
+
var workspaceRoot = ResolveWorkspaceRoot();
var loaded = _configLoader.Load(path, workspaceRoot);
settings = loaded.Robot;
@@ -156,10 +182,18 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
dict[program.Key] = traj;
}
+ _logger?.LogInformation(
+ "TrajectoryStore 加载完成: robot={RobotName}, 轨迹数={Count}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}",
+ robotName,
+ dict.Count,
+ settings?.UseDo,
+ settings?.IoKeepCycles);
+
return dict;
}
- catch
+ catch (Exception ex)
{
+ _logger?.LogError(ex, "TrajectoryStore 加载失败: {Path}", path);
settings = null;
return new Dictionary(StringComparer.Ordinal);
}
diff --git a/src/Flyshot.Core.Planning/Flyshot.Core.Planning.csproj b/src/Flyshot.Core.Planning/Flyshot.Core.Planning.csproj
index 1ccc45d..d159671 100644
--- a/src/Flyshot.Core.Planning/Flyshot.Core.Planning.csproj
+++ b/src/Flyshot.Core.Planning/Flyshot.Core.Planning.csproj
@@ -6,6 +6,10 @@
enable
+
+
+
+
diff --git a/src/Flyshot.Core.Planning/ICspPlanner.cs b/src/Flyshot.Core.Planning/ICspPlanner.cs
index cbe97bd..65f571a 100644
--- a/src/Flyshot.Core.Planning/ICspPlanner.cs
+++ b/src/Flyshot.Core.Planning/ICspPlanner.cs
@@ -1,4 +1,5 @@
using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
namespace Flyshot.Core.Planning;
@@ -33,6 +34,7 @@ public sealed class ICspPlanner
private readonly int _maxIterations;
private readonly bool _enforceFinalScale;
private readonly double _finalScaleTolerance;
+ private readonly ILogger? _logger;
///
/// 初始化 ICSP 规划器。
@@ -41,11 +43,13 @@ public sealed class ICspPlanner
/// 最大迭代轮数。
/// 是否在最终最优 scale 仍大于 1.0 时抛出失败。
/// 最终 scale 判定容差。
+ /// 日志记录器；允许 null，供无日志场景使用。
public ICspPlanner(
double threshold = DefaultThreshold,
int maxIterations = DefaultMaxIterations,
bool enforceFinalScale = true,
- double finalScaleTolerance = DefaultFinalScaleTolerance)
+ double finalScaleTolerance = DefaultFinalScaleTolerance,
+ ILogger? logger = null)
{
if (threshold <= 0.0 || double.IsNaN(threshold) || double.IsInfinity(threshold))
{
@@ -66,6 +70,7 @@ public sealed class ICspPlanner
_maxIterations = maxIterations;
_enforceFinalScale = enforceFinalScale;
_finalScaleTolerance = finalScaleTolerance;
+ _logger = logger;
}
///
@@ -81,9 +86,22 @@ public sealed class ICspPlanner
throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
}
+ _logger?.LogInformation(
+ "ICSP 规划开始: 名称={Name}, 路点数={WaypointCount}, 自由度={Dof}, threshold={Threshold}, maxIterations={MaxIterations}",
+ request.Program.Name, waypoints.Count, request.Robot.DegreesOfFreedom, _threshold, _maxIterations);
+ _logger?.LogDebug(
+ "ICSP 输入路点: {Waypoints}",
+ string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Positions.Select(j => j.ToString("F4")))}]")));
+
var qs = WaypointsToArray(waypoints);
var (velLimits, accLimits, jerkLimits) = ExtractLimits(request.Robot);
+ _logger?.LogDebug(
+ "ICSP 约束限值: vel=[{Vel}], acc=[{Acc}], jerk=[{Jerk}]",
+ string.Join(", ", velLimits.Select(v => v.ToString("F2"))),
+ string.Join(", ", accLimits.Select(a => a.ToString("F2"))),
+ string.Join(", ", jerkLimits.Select(j => j.ToString("F2"))));
+
// 初始段时长直接取相邻示教点的关节空间欧氏距离。
var segmentDurations = ComputeInitialDurations(qs);
int nseg = segmentDurations.Length;
@@ -135,6 +153,9 @@ public sealed class ICspPlanner
if (currentThreshold < _threshold)
{
+ _logger?.LogDebug(
+ "ICSP 第 {Iteration} 轮收敛: threshold={CurrentThreshold:E6}",
+ iteration + 1, currentThreshold);
break;
}
@@ -152,10 +173,22 @@ public sealed class ICspPlanner
var globalScale = bestScales.Max();
if (_enforceFinalScale && globalScale > 1.0 + _finalScaleTolerance)
{
+ _logger?.LogError(
+ "ICSP 规划未收敛: global_scale={GlobalScale:F6} > {Tolerance:F6}, 段缩放=[{Scales}]",
+ globalScale, 1.0 + _finalScaleTolerance,
+ string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
throw new InvalidOperationException(
$"ICSP 规划未收敛，global_scale={globalScale:F6} > {1.0 + _finalScaleTolerance:F6}，轨迹不可执行。");
}
+ _logger?.LogInformation(
+ "ICSP 规划完成: 名称={Name}, 迭代轮数={Iterations}, 收敛阈值={Threshold:E6}, 总时长={Duration:F4}s, global_scale={GlobalScale:F6}",
+ request.Program.Name, bestIterations, bestThreshold, bestWaypointTimes[^1], globalScale);
+ _logger?.LogDebug(
+ "ICSP 段时长: [{Durations}], 段缩放: [{Scales}]",
+ string.Join(", ", bestDurations.Select(d => d.ToString("F4"))),
+ string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
+
return new PlannedTrajectory(
robot: request.Robot,
originalProgram: request.Program,
diff --git a/src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs b/src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs
index be3fb86..aef327a 100644
--- a/src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs
+++ b/src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs
@@ -1,182 +1,213 @@
-using Flyshot.Core.Domain;
-
-namespace Flyshot.Core.Planning;
-
-///
-/// 在 ICSP 外层包裹补中点策略，实现 self-adapt-icsp 行为。
-///
-/// 为什么需要这层？
-/// ---
-/// 逆向分析已经指出：原系统里普通 icsp 若仍有段 scale > 1，不会直接返回未收敛结果；
-/// 配置中还明确存在 adapt_icsp_try_num。本层把“超限段统一插入中点后再重规划”的逻辑显式落地，
-/// 补上 demo 缺失的失败恢复路径。
-///
-/// 补点策略：
-/// ---
-/// 对当前所有 scale > 1 + tolerance 的段统一插入关节空间中点，然后把新路点集交给 ICSPPlanner
-/// 重新规划。这种"先把明显病灶都降一档，再整体重规划"的策略比逐段拆分更稳定，
-/// 也更符合服务端 adapt_icsp_try_num 的意图。
-///
-public sealed class SelfAdaptIcspPlanner
-{
- ///
- /// 判定段是否超限的数值容差，过滤浮点噪声。
- ///
- public const double ScaleTolerance = 5e-4;
-
- private readonly ICspPlanner _innerPlanner = new(enforceFinalScale: false);
-
- ///
- /// 执行自适应 ICSP 规划，允许在超限段插入中点后重试。
- ///
- /// 轨迹规划请求。
- /// 最大补点重试次数（默认 5）。
- /// 规划后的轨迹结果。
- /// 超过最大重试次数仍未收敛时抛出。
- public PlannedTrajectory Plan(TrajectoryRequest request, int adaptIcspTryNum = 5)
- {
- ArgumentNullException.ThrowIfNull(request);
-
- var currentWaypoints = request.Program.Waypoints.ToArray();
- var currentShotFlags = request.Program.ShotFlags.ToArray();
- var currentOffsets = request.Program.OffsetValues.ToArray();
- var currentAddrs = request.Program.AddressGroups.ToArray();
- int originalWaypointCount = currentWaypoints.Length;
-
- if (originalWaypointCount < 4)
- {
- throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
- }
-
- var currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
- var currentRequest = new TrajectoryRequest(
- robot: request.Robot,
- program: currentProgram,
- method: PlanningMethod.SelfAdaptIcsp,
- moveToStart: request.MoveToStart,
- saveTrajectoryArtifacts: request.SaveTrajectoryArtifacts,
- useCache: request.UseCache);
-
- PlannedTrajectory? lastTrajectory = null;
- int maxAttempts = Math.Max(0, adaptIcspTryNum);
-
- for (int attempt = 0; attempt <= maxAttempts; attempt++)
- {
- var trajectory = _innerPlanner.Plan(currentRequest);
- lastTrajectory = trajectory;
-
- var badSegments = new List();
- for (int seg = 0; seg < trajectory.SegmentScales.Count; seg++)
- {
- if (trajectory.SegmentScales[seg] > 1.0 + ScaleTolerance)
- {
- badSegments.Add(seg);
- }
- }
-
- if (badSegments.Count == 0)
- {
- // 所有段都满足约束，收敛成功。返回包含补中点后路点的轨迹。
- return new PlannedTrajectory(
- robot: trajectory.Robot,
- originalProgram: request.Program,
- plannedWaypoints: currentWaypoints,
- waypointTimes: trajectory.WaypointTimes,
- segmentDurations: trajectory.SegmentDurations,
- segmentScales: trajectory.SegmentScales,
- method: PlanningMethod.SelfAdaptIcsp,
- iterations: trajectory.Iterations,
- threshold: trajectory.Threshold);
- }
-
- if (attempt >= maxAttempts)
- {
- break;
- }
-
- // 对超限段插入中点，并同步扩展 shot 元数据。
- (currentWaypoints, currentShotFlags, currentOffsets, currentAddrs) =
- InsertSegmentMidpoints(currentWaypoints, currentShotFlags, currentOffsets, currentAddrs, badSegments);
-
- currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
- currentRequest = new TrajectoryRequest(
- robot: request.Robot,
- program: currentProgram,
- method: PlanningMethod.SelfAdaptIcsp,
- moveToStart: request.MoveToStart,
- saveTrajectoryArtifacts: request.SaveTrajectoryArtifacts,
- useCache: request.UseCache);
- }
-
- double maxScale = lastTrajectory?.SegmentScales.Max() ?? double.NaN;
- throw new InvalidOperationException(
- $"self-adapt ICSP 在 {adaptIcspTryNum} 轮补点后仍未收敛，最大段缩放因子={maxScale:F6}。");
- }
-
- ///
- /// 用当前路点集和元数据构造 FlyshotProgram。
- ///
- private static FlyshotProgram BuildProgram(
- string name,
- JointWaypoint[] waypoints,
- bool[] shotFlags,
- int[] offsets,
- IoAddressGroup[] addrs)
- {
- return new FlyshotProgram(
- name: name,
- waypoints: waypoints,
- shotFlags: shotFlags,
- offsetValues: offsets,
- addressGroups: addrs);
- }
-
- ///
- /// 对超限段统一插入关节空间中点，并同步扩展 shot 元数据。
- /// 新插入的路点默认 shotFlag=false、offset=0、addr=空。
- ///
- private static (JointWaypoint[] waypoints, bool[] shotFlags, int[] offsets, IoAddressGroup[] addrs)
- InsertSegmentMidpoints(
- JointWaypoint[] waypoints,
- bool[] shotFlags,
- int[] offsets,
- IoAddressGroup[] addrs,
- List badSegments)
- {
- if (badSegments.Count == 0)
- {
- return (waypoints, shotFlags, offsets, addrs);
- }
-
- var badSet = new HashSet(badSegments);
- var newWaypoints = new List(waypoints.Length + badSegments.Count);
- var newShotFlags = new List(waypoints.Length + badSegments.Count);
- var newOffsets = new List(waypoints.Length + badSegments.Count);
- var newAddrs = new List(waypoints.Length + badSegments.Count);
-
- newWaypoints.Add(waypoints[0]);
- newShotFlags.Add(shotFlags[0]);
- newOffsets.Add(offsets[0]);
- newAddrs.Add(addrs[0]);
-
- for (int seg = 0; seg < waypoints.Length - 1; seg++)
- {
- if (badSet.Contains(seg))
- {
- var mid = new JointWaypoint(
- waypoints[seg].Positions.Zip(waypoints[seg + 1].Positions, (a, b) => (a + b) / 2.0));
- newWaypoints.Add(mid);
- newShotFlags.Add(false);
- newOffsets.Add(0);
- newAddrs.Add(new IoAddressGroup(Array.Empty()));
- }
-
- newWaypoints.Add(waypoints[seg + 1]);
- newShotFlags.Add(shotFlags[seg + 1]);
- newOffsets.Add(offsets[seg + 1]);
- newAddrs.Add(addrs[seg + 1]);
- }
-
- return (newWaypoints.ToArray(), newShotFlags.ToArray(), newOffsets.ToArray(), newAddrs.ToArray());
- }
-}
+using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.Core.Planning;
+
+///
+/// 在 ICSP 外层包裹补中点策略，实现 self-adapt-icsp 行为。
+///
+/// 为什么需要这层？
+/// ---
+/// 逆向分析已经指出：原系统里普通 icsp 若仍有段 scale > 1，不会直接返回未收敛结果；
+/// 配置中还明确存在 adapt_icsp_try_num。本层把"超限段统一插入中点后再重规划"的逻辑显式落地，
+/// 补上 demo 缺失的失败恢复路径。
+///
+/// 补点策略：
+/// ---
+/// 对当前所有 scale > 1 + tolerance 的段统一插入关节空间中点，然后把新路点集交给 ICSPPlanner
+/// 重新规划。这种"先把明显病灶都降一档，再整体重规划"的策略比逐段拆分更稳定，
+/// 也更符合服务端 adapt_icsp_try_num 的意图。
+///
+public sealed class SelfAdaptIcspPlanner
+{
+ ///
+ /// 判定段是否超限的数值容差，过滤浮点噪声。
+ ///
+ public const double ScaleTolerance = 5e-4;
+
+ private readonly ICspPlanner _innerPlanner;
+ private readonly ILogger? _logger;
+
+ ///
+ /// 初始化 SelfAdaptIcspPlanner。
+ ///
+ /// 日志记录器；允许 null。
+ public SelfAdaptIcspPlanner(ILogger? logger = null)
+ {
+ _innerPlanner = new ICspPlanner(enforceFinalScale: false, logger: null);
+ _logger = logger;
+ }
+
+ ///
+ /// 执行自适应 ICSP 规划，允许在超限段插入中点后重试。
+ ///
+ /// 轨迹规划请求。
+ /// 最大补点重试次数（默认 5）。
+ /// 规划后的轨迹结果。
+ /// 超过最大重试次数仍未收敛时抛出。
+ public PlannedTrajectory Plan(TrajectoryRequest request, int adaptIcspTryNum = 5)
+ {
+ ArgumentNullException.ThrowIfNull(request);
+
+ var currentWaypoints = request.Program.Waypoints.ToArray();
+ var currentShotFlags = request.Program.ShotFlags.ToArray();
+ var currentOffsets = request.Program.OffsetValues.ToArray();
+ var currentAddrs = request.Program.AddressGroups.ToArray();
+ int originalWaypointCount = currentWaypoints.Length;
+
+ if (originalWaypointCount < 4)
+ {
+ throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
+ }
+
+ _logger?.LogInformation(
+ "SelfAdaptICSP 规划开始: 名称={Name}, 原始路点数={WaypointCount}, 最大补点次数={MaxAttempts}",
+ request.Program.Name, originalWaypointCount, adaptIcspTryNum);
+
+ var currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
+ var currentRequest = new TrajectoryRequest(
+ robot: request.Robot,
+ program: currentProgram,
+ method: PlanningMethod.SelfAdaptIcsp,
+ moveToStart: request.MoveToStart,
+ saveTrajectoryArtifacts: request.SaveTrajectoryArtifacts,
+ useCache: request.UseCache);
+
+ PlannedTrajectory? lastTrajectory = null;
+ int maxAttempts = Math.Max(0, adaptIcspTryNum);
+
+ for (int attempt = 0; attempt <= maxAttempts; attempt++)
+ {
+ var trajectory = _innerPlanner.Plan(currentRequest);
+ lastTrajectory = trajectory;
+
+ var badSegments = new List();
+ for (int seg = 0; seg < trajectory.SegmentScales.Count; seg++)
+ {
+ if (trajectory.SegmentScales[seg] > 1.0 + ScaleTolerance)
+ {
+ badSegments.Add(seg);
+ }
+ }
+
+ if (badSegments.Count == 0)
+ {
+ _logger?.LogInformation(
+ "SelfAdaptICSP 规划完成: 名称={Name}, 补点轮数={Attempts}, 最终路点数={WaypointCount}, 迭代次数={Iterations}, 总时长={Duration:F4}s",
+ request.Program.Name, attempt, currentWaypoints.Length, trajectory.Iterations, trajectory.WaypointTimes[^1]);
+ // 所有段都满足约束，收敛成功。返回包含补中点后路点的轨迹。
+ return new PlannedTrajectory(
+ robot: trajectory.Robot,
+ originalProgram: request.Program,
+ plannedWaypoints: currentWaypoints,
+ waypointTimes: trajectory.WaypointTimes,
+ segmentDurations: trajectory.SegmentDurations,
+ segmentScales: trajectory.SegmentScales,
+ method: PlanningMethod.SelfAdaptIcsp,
+ iterations: trajectory.Iterations,
+ threshold: trajectory.Threshold);
+ }
+
+ _logger?.LogWarning(
+ "SelfAdaptICSP 第 {Attempt} 轮存在超限段: 超限段数={BadCount}, 段索引=[{Segments}], 最大缩放={MaxScale:F4}",
+ attempt, badSegments.Count, string.Join(", ", badSegments), trajectory.SegmentScales.Max());
+
+ if (attempt >= maxAttempts)
+ {
+ break;
+ }
+
+ // 对超限段插入中点，并同步扩展 shot 元数据。
+ int waypointCountBefore = currentWaypoints.Length;
+ (currentWaypoints, currentShotFlags, currentOffsets, currentAddrs) =
+ InsertSegmentMidpoints(currentWaypoints, currentShotFlags, currentOffsets, currentAddrs, badSegments);
+
+ _logger?.LogDebug(
+ "SelfAdaptICSP 补中点: 路点数 {Before} -> {After}, 插入段=[{Segments}]",
+ waypointCountBefore, currentWaypoints.Length, string.Join(", ", badSegments));
+
+ currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
+ currentRequest = new TrajectoryRequest(
+ robot: request.Robot,
+ program: currentProgram,
+ method: PlanningMethod.SelfAdaptIcsp,
+ moveToStart: request.MoveToStart,
+ saveTrajectoryArtifacts: request.SaveTrajectoryArtifacts,
+ useCache: request.UseCache);
+ }
+
+ double maxScale = lastTrajectory?.SegmentScales.Max() ?? double.NaN;
+ _logger?.LogError(
+ "SelfAdaptICSP 规划失败: 名称={Name}, 在 {Attempts} 轮补点后仍未收敛, 最大段缩放因子={MaxScale:F6}",
+ request.Program.Name, adaptIcspTryNum, maxScale);
+ throw new InvalidOperationException(
+ $"self-adapt ICSP 在 {adaptIcspTryNum} 轮补点后仍未收敛，最大段缩放因子={maxScale:F6}。");
+ }
+
+ ///
+ /// 用当前路点集和元数据构造 FlyshotProgram。
+ ///
+ private static FlyshotProgram BuildProgram(
+ string name,
+ JointWaypoint[] waypoints,
+ bool[] shotFlags,
+ int[] offsets,
+ IoAddressGroup[] addrs)
+ {
+ return new FlyshotProgram(
+ name: name,
+ waypoints: waypoints,
+ shotFlags: shotFlags,
+ offsetValues: offsets,
+ addressGroups: addrs);
+ }
+
+ ///
+ /// 对超限段统一插入关节空间中点，并同步扩展 shot 元数据。
+ /// 新插入的路点默认 shotFlag=false、offset=0、addr=空。
+ ///
+ private static (JointWaypoint[] waypoints, bool[] shotFlags, int[] offsets, IoAddressGroup[] addrs)
+ InsertSegmentMidpoints(
+ JointWaypoint[] waypoints,
+ bool[] shotFlags,
+ int[] offsets,
+ IoAddressGroup[] addrs,
+ List badSegments)
+ {
+ if (badSegments.Count == 0)
+ {
+ return (waypoints, shotFlags, offsets, addrs);
+ }
+
+ var badSet = new HashSet(badSegments);
+ var newWaypoints = new List(waypoints.Length + badSegments.Count);
+ var newShotFlags = new List(waypoints.Length + badSegments.Count);
+ var newOffsets = new List(waypoints.Length + badSegments.Count);
+ var newAddrs = new List(waypoints.Length + badSegments.Count);
+
+ newWaypoints.Add(waypoints[0]);
+ newShotFlags.Add(shotFlags[0]);
+ newOffsets.Add(offsets[0]);
+ newAddrs.Add(addrs[0]);
+
+ for (int seg = 0; seg < waypoints.Length - 1; seg++)
+ {
+ if (badSet.Contains(seg))
+ {
+ var mid = new JointWaypoint(
+ waypoints[seg].Positions.Zip(waypoints[seg + 1].Positions, (a, b) => (a + b) / 2.0));
+ newWaypoints.Add(mid);
+ newShotFlags.Add(false);
+ newOffsets.Add(0);
+ newAddrs.Add(new IoAddressGroup(Array.Empty()));
+ }
+
+ newWaypoints.Add(waypoints[seg + 1]);
+ newShotFlags.Add(shotFlags[seg + 1]);
+ newOffsets.Add(offsets[seg + 1]);
+ newAddrs.Add(addrs[seg + 1]);
+ }
+
+ return (newWaypoints.ToArray(), newShotFlags.ToArray(), newOffsets.ToArray(), newAddrs.ToArray());
+ }
+}
diff --git a/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs b/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs
index 1c8eae6..cf26d17 100644
--- a/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs
+++ b/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs
@@ -2,6 +2,7 @@ using System.Diagnostics;
using Flyshot.Core.Domain;
using Flyshot.Runtime.Common;
using Flyshot.Runtime.Fanuc.Protocol;
+using Microsoft.Extensions.Logging;
namespace Flyshot.Runtime.Fanuc;
@@ -16,6 +17,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
private readonly FanucCommandClient _commandClient;
private readonly FanucStateClient _stateClient;
private readonly FanucJ519Client _j519Client;
+ private readonly ILogger? _logger;
private RobotProfile? _robot;
private string? _robotName;
@@ -35,21 +37,24 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
///
/// 初始化 FANUC 控制器运行时。
///
- public FanucControllerRuntime()
+ /// 日志记录器；允许 null，供无日志场景使用。
+ public FanucControllerRuntime(ILogger? logger = null)
{
_commandClient = new FanucCommandClient();
_stateClient = new FanucStateClient();
_j519Client = new FanucJ519Client();
+ _logger = logger;
}
///
/// 供测试注入 mock 客户端的内部构造函数。
///
- internal FanucControllerRuntime(FanucCommandClient commandClient, FanucStateClient stateClient, FanucJ519Client j519Client)
+ internal FanucControllerRuntime(FanucCommandClient commandClient, FanucStateClient stateClient, FanucJ519Client j519Client, ILogger? logger = null)
{
_commandClient = commandClient;
_stateClient = stateClient;
_j519Client = j519Client;
+ _logger = logger;
}
///
@@ -61,6 +66,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
throw new ArgumentException("机器人名称不能为空。", nameof(robotName));
}
+ _logger?.LogInformation("ResetRobot: robotName={RobotName}, dof={Dof}", robotName, robot.DegreesOfFreedom);
+
lock (_stateLock)
{
DisconnectClients();
@@ -82,6 +89,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
///
public void SetActiveController(bool sim)
{
+ _logger?.LogInformation("SetActiveController: sim={Sim}", sim);
lock (_stateLock)
{
EnsureRobotSetup();
@@ -101,6 +109,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
throw new ArgumentException("控制器 IP 不能为空。", nameof(robotIp));
}
+ _logger?.LogInformation("Connect 开始: robotIp={RobotIp}, 仿真={IsSim}", robotIp, _activeControllerIsSimulation);
+
lock (_stateLock)
{
EnsureActiveControllerSelected();
@@ -109,6 +119,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_connectedRobotIp = robotIp;
_isEnabled = false;
_isInMotion = false;
+ _logger?.LogInformation("Connect 完成(仿真): robotIp={RobotIp}", robotIp);
return;
}
@@ -121,11 +132,14 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_isEnabled = false;
_isInMotion = false;
}
+
+ _logger?.LogInformation("Connect 完成(真机): robotIp={RobotIp}, 三条通道已建立", robotIp);
}
///
public void Disconnect()
{
+ _logger?.LogInformation("Disconnect 开始");
lock (_stateLock)
{
EnsureRobotSetup();
@@ -135,6 +149,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_isEnabled = false;
_isInMotion = false;
}
+ _logger?.LogInformation("Disconnect 完成");
}
///
@@ -145,6 +160,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
throw new ArgumentOutOfRangeException(nameof(bufferSize), "buffer_size 必须大于 0。");
}
+ _logger?.LogInformation("EnableRobot 开始: bufferSize={BufferSize}, 仿真={IsSim}", bufferSize, _activeControllerIsSimulation);
+
lock (_stateLock)
{
EnsureConnected();
@@ -153,6 +170,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
if (IsSimulationMode)
{
_isEnabled = true;
+ _logger?.LogInformation("EnableRobot 完成(仿真)");
return;
}
@@ -165,11 +183,14 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_j519Client.StartMotion();
_isEnabled = true;
}
+
+ _logger?.LogInformation("EnableRobot 完成(真机): RVBUSTSM 已启动, J519 运动循环已开启");
}
///
public void DisableRobot()
{
+ _logger?.LogInformation("DisableRobot 开始");
lock (_stateLock)
{
EnsureRobotSetup();
@@ -183,11 +204,13 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_isEnabled = false;
_isInMotion = false;
}
+ _logger?.LogInformation("DisableRobot 完成");
}
///
public void StopMove()
{
+ _logger?.LogInformation("StopMove 开始");
lock (_stateLock)
{
EnsureRobotSetup();
@@ -199,6 +222,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_isInMotion = false;
}
+ _logger?.LogInformation("StopMove 完成");
}
///
@@ -225,6 +249,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
throw new ArgumentOutOfRangeException(nameof(ratio), "ratio 必须是有限数值。");
}
+ _logger?.LogInformation("SetSpeedRatio: ratio={Ratio}", ratio);
+
lock (_stateLock)
{
EnsureConnected();
@@ -236,6 +262,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_speedRatio = clampedRatio;
}
+
+ _logger?.LogInformation("SetSpeedRatio 完成: clampedRatio={ClampedRatio}", _speedRatio);
}
///
@@ -426,6 +454,11 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
ArgumentNullException.ThrowIfNull(result);
ArgumentNullException.ThrowIfNull(finalJointPositions);
+ _logger?.LogInformation(
+ "ExecuteTrajectory 开始: program={ProgramName}, method={Method}, 时长={Duration}s, 稠密采样={HasDense}, 触发事件数={TriggerCount}, speedRatio={SpeedRatio}",
+ result.ProgramName, result.Method, result.Duration.TotalSeconds,
+ result.DenseJointTrajectory is not null, result.TriggerTimeline.Count, _speedRatio);
+
lock (_stateLock)
{
EnsureEnabled();
@@ -447,6 +480,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_sendCts = new CancellationTokenSource();
var ct = _sendCts.Token;
_sendTask = Task.Run(() => SendDenseTrajectory(result, finalJointPositions, ct), ct);
+ _logger?.LogInformation("ExecuteTrajectory 已启动后台稠密发送任务");
return;
}
@@ -462,6 +496,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
_isInMotion = true;
_jointPositions = finalJointPositions.ToArray();
_isInMotion = false;
+ _logger?.LogInformation("ExecuteTrajectory 完成(单点模式)");
}
}
@@ -498,12 +533,18 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
var sampleCount = CalculateDenseSendSampleCount(durationSeconds, trajectoryStepSeconds);
var periodTicks = (long)(servoPeriodSeconds * Stopwatch.Frequency);
+ _logger?.LogInformation(
+ "SendDenseTrajectory 开始: program={ProgramName}, 采样数={SampleCount}, 时长={Duration}s, speedRatio={SpeedRatio}, 周期={Period}ms, 触发事件数={TriggerCount}",
+ result.ProgramName, sampleCount, durationSeconds, speedRatio, servoPeriodSeconds * 1000, triggers.Count);
+
var stopwatch = Stopwatch.StartNew();
long nextTick = stopwatch.ElapsedTicks;
ushort ioValue = 0;
ushort ioMask = 0;
int holdRemaining = -1;
int segmentIndex = 0;
+ long logInterval = Math.Max(1, sampleCount / 10);
+ int triggerFiredCount = 0;
try
{
@@ -538,6 +579,10 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
ioMask = ComputeIoValue(trigger.AddressGroup);
ioValue = ioMask;
holdRemaining = Math.Max(trigger.HoldCycles - 1, 0);
+ triggerFiredCount++;
+ _logger?.LogInformation(
+ "J519 IO触发: time={Time:F4}s, addr=[{Addr}], holdCycles={HoldCycles}",
+ trajectoryTime, string.Join(",", trigger.AddressGroup.Addresses), trigger.HoldCycles);
break;
}
}
@@ -558,15 +603,30 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
ioMask = 0;
}
+ // 周期性记录进度（Debug 级别，避免高频 Info 日志）。
+ if (sampleIndex > 0 && sampleIndex % logInterval == 0)
+ {
+ _logger?.LogDebug(
+ "SendDenseTrajectory 进度: {Percent}% ({Current}/{Total}), time={Time:F4}s",
+ (int)((double)sampleIndex / sampleCount * 100), sampleIndex, sampleCount, trajectoryTime);
+ }
+
// 高精度忙等待直到下一伺服周期。
while (stopwatch.ElapsedTicks < nextTick)
{
Thread.SpinWait(1);
}
}
+
+ _logger?.LogInformation(
+ "SendDenseTrajectory 正常完成: 采样数={SampleCount}, 触发次数={TriggerFiredCount}, 实际耗时={ElapsedMs}ms",
+ sampleCount, triggerFiredCount, stopwatch.ElapsedMilliseconds);
}
catch (OperationCanceledException)
{
+ _logger?.LogWarning(
+ "SendDenseTrajectory 被取消: 已完成 {Percent}% ({Current}/{Total}), 触发次数={TriggerFiredCount}",
+ (int)((double)(sampleCount > 0 ? 0 : 0) / sampleCount * 100), 0, sampleCount, triggerFiredCount);
// 正常取消，轨迹被中断。
}
finally
diff --git a/src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj b/src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj
index 707afe4..fb0f8ff 100644
--- a/src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj
+++ b/src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj
@@ -6,6 +6,10 @@
enable
+
+
+
+
<_Parameter1>Flyshot.Core.Tests
diff --git a/src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs b/src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs
index 3a9750c..a2a38e4 100644
--- a/src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs
+++ b/src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs
@@ -1,4 +1,5 @@
using System.Net.Sockets;
+using Microsoft.Extensions.Logging;
namespace Flyshot.Runtime.Fanuc.Protocol;
@@ -8,6 +9,7 @@ namespace Flyshot.Runtime.Fanuc.Protocol;
public sealed class FanucCommandClient : IDisposable
{
private readonly SemaphoreSlim _sendLock = new(1, 1);
+ private readonly ILogger? _logger;
private TcpClient? _tcpClient;
private NetworkStream? _stream;
private bool _disposed;
@@ -17,6 +19,15 @@ public sealed class FanucCommandClient : IDisposable
///
public bool IsConnected => _tcpClient?.Connected ?? false;
+ ///
+ /// 初始化 FANUC 命令通道客户端。
+ ///
+ /// 日志记录器；允许 null。
+ public FanucCommandClient(ILogger? logger = null)
+ {
+ _logger = logger;
+ }
+
///
/// 建立到 FANUC 控制柜 TCP 10012 命令通道的连接。
///
@@ -37,9 +48,13 @@ public sealed class FanucCommandClient : IDisposable
throw new InvalidOperationException("命令通道已经连接，请先 Disconnect。");
}
+ _logger?.LogInformation("CommandClient ConnectAsync: {Ip}:{Port}", ip, port);
+
_tcpClient = new TcpClient { NoDelay = true };
await _tcpClient.ConnectAsync(ip, port, cancellationToken).ConfigureAwait(false);
_stream = _tcpClient.GetStream();
+
+ _logger?.LogInformation("CommandClient 已连接: {Ip}:{Port}", ip, port);
}
///
@@ -49,6 +64,8 @@ public sealed class FanucCommandClient : IDisposable
{
ObjectDisposedException.ThrowIf(_disposed, this);
+ _logger?.LogInformation("CommandClient Disconnect");
+
_stream?.Dispose();
_stream = null;
_tcpClient?.Dispose();
@@ -259,7 +276,9 @@ public sealed class FanucCommandClient : IDisposable
try
{
await _stream.WriteAsync(frame, cancellationToken).ConfigureAwait(false);
- return await ReadResponseFrameAsync(cancellationToken).ConfigureAwait(false);
+ var response = await ReadResponseFrameAsync(cancellationToken).ConfigureAwait(false);
+ _logger?.LogDebug("CommandClient 发送帧成功: 帧长度={FrameLength}, 响应长度={ResponseLength}", frame.Length, response.Length);
+ return response;
}
finally
{
@@ -270,10 +289,11 @@ public sealed class FanucCommandClient : IDisposable
///
/// 校验普通命令响应结果码，失败时抛出包含消息号和结果码的诊断异常。
///
- private static FanucCommandResultResponse EnsureSuccess(FanucCommandResultResponse response)
+ private FanucCommandResultResponse EnsureSuccess(FanucCommandResultResponse response)
{
if (!response.IsSuccess)
{
+ _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
}
@@ -283,10 +303,11 @@ public sealed class FanucCommandClient : IDisposable
///
/// 校验程序状态响应结果码，失败时抛出包含消息号和结果码的诊断异常。
///
- private static FanucProgramStatusResponse EnsureSuccess(FanucProgramStatusResponse response)
+ private FanucProgramStatusResponse EnsureSuccess(FanucProgramStatusResponse response)
{
if (!response.IsSuccess)
{
+ _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
}
@@ -296,10 +317,11 @@ public sealed class FanucCommandClient : IDisposable
///
/// 校验速度倍率响应结果码，失败时抛出包含消息号和结果码的诊断异常。
///
- private static FanucSpeedRatioResponse EnsureSuccess(FanucSpeedRatioResponse response)
+ private FanucSpeedRatioResponse EnsureSuccess(FanucSpeedRatioResponse response)
{
if (!response.IsSuccess)
{
+ _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
}
@@ -309,10 +331,11 @@ public sealed class FanucCommandClient : IDisposable
///
/// 校验 TCP 位姿响应结果码，失败时抛出包含消息号和结果码的诊断异常。
///
- private static FanucTcpResponse EnsureSuccess(FanucTcpResponse response)
+ private FanucTcpResponse EnsureSuccess(FanucTcpResponse response)
{
if (!response.IsSuccess)
{
+ _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
}
@@ -322,10 +345,11 @@ public sealed class FanucCommandClient : IDisposable
///
/// 校验 IO 读取响应结果码，失败时抛出包含消息号和结果码的诊断异常。
///
- private static FanucIoResponse EnsureSuccess(FanucIoResponse response)
+ private FanucIoResponse EnsureSuccess(FanucIoResponse response)
{
if (!response.IsSuccess)
{
+ _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
}
diff --git a/src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs b/src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs
index cd4ab19..cbd1602 100644
--- a/src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs
+++ b/src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs
@@ -1,5 +1,6 @@
using System.Diagnostics;
using System.Net.Sockets;
+using Microsoft.Extensions.Logging;
namespace Flyshot.Runtime.Fanuc.Protocol;
@@ -10,6 +11,7 @@ public sealed class FanucJ519Client : IDisposable
{
private readonly object _commandLock = new();
private readonly object _responseLock = new();
+ private readonly ILogger? _logger;
private UdpClient? _udpClient;
private CancellationTokenSource? _cts;
private CancellationTokenSource? _sendCts;
@@ -26,6 +28,15 @@ public sealed class FanucJ519Client : IDisposable
///
public bool IsConnected => _udpClient is not null;
+ ///
+ /// 初始化 FANUC J519 客户端。
+ ///
+ /// 日志记录器；允许 null。
+ public FanucJ519Client(ILogger? logger = null)
+ {
+ _logger = logger;
+ }
+
///
/// 建立到 FANUC 控制柜 UDP 60015 运动通道的连接并启动接收循环。
///
@@ -46,11 +57,14 @@ public sealed class FanucJ519Client : IDisposable
throw new InvalidOperationException("J519 通道已经连接，请先 Disconnect。");
}
+ _logger?.LogInformation("J519 ConnectAsync: {Ip}:{Port}", ip, port);
+
_udpClient = new UdpClient();
_udpClient.Connect(ip, port);
// 发送初始化包。
await _udpClient.SendAsync(FanucJ519Protocol.PackInitPacket(), cancellationToken).ConfigureAwait(false);
+ _logger?.LogInformation("J519 初始化包已发送");
_cts = new CancellationTokenSource();
_receiveTask = Task.Run(() => ReceiveLoopAsync(_cts.Token), _cts.Token);
@@ -70,9 +84,11 @@ public sealed class FanucJ519Client : IDisposable
if (_sendTask is not null)
{
+ _logger?.LogDebug("J519 StartMotion: 发送循环已在运行");
return; // 已在运行。
}
+ _logger?.LogInformation("J519 StartMotion: 启动发送循环");
_sendCts = CancellationTokenSource.CreateLinkedTokenSource(_cts!.Token);
_sendTask = Task.Run(() => SendLoopAsync(_sendCts.Token), _sendCts.Token);
}
@@ -89,6 +105,8 @@ public sealed class FanucJ519Client : IDisposable
return;
}
+ _logger?.LogInformation("J519 StopMotionAsync: 停止发送循环");
+
if (_sendTask is not null)
{
_sendCts?.Cancel();
@@ -99,7 +117,7 @@ public sealed class FanucJ519Client : IDisposable
}
catch (TimeoutException)
{
- // 发送循环可能未能在 1 秒内结束，继续执行后续清理。
+ _logger?.LogWarning("J519 StopMotionAsync: 发送循环未能在 1 秒内结束");
}
catch (OperationCanceledException)
{
@@ -114,6 +132,7 @@ public sealed class FanucJ519Client : IDisposable
// 发送结束包通知控制器停止伺服流。
await _udpClient.SendAsync(FanucJ519Protocol.PackEndPacket(), cancellationToken).ConfigureAwait(false);
+ _logger?.LogInformation("J519 StopMotionAsync: 结束包已发送");
}
///
@@ -130,6 +149,12 @@ public sealed class FanucJ519Client : IDisposable
_currentCommand = command;
_commandHistoryForTests?.Add(command);
}
+
+ _logger?.LogDebug(
+ "J519 UpdateCommand: joints=[{Joints}], ioMask=0x{IoMask:X4}, ioValue=0x{IoValue:X4}",
+ string.Join(", ", command.TargetJoints.Select(j => j.ToString("F2"))),
+ command.WriteIoMask,
+ command.WriteIoValue);
}
///
@@ -353,6 +378,10 @@ public sealed class FanucJ519Client : IDisposable
return;
}
+ _logger?.LogInformation("J519 ReceiveLoop 启动");
+ long receiveCount = 0;
+ FanucJ519Response? lastLoggedResponse = null;
+
try
{
while (!cancellationToken.IsCancellationRequested)
@@ -365,16 +394,40 @@ public sealed class FanucJ519Client : IDisposable
{
_latestResponse = response;
}
+
+ receiveCount++;
+
+ // 仅在状态变化时记录 Info，避免高频日志。
+ if (lastLoggedResponse is null
+ || lastLoggedResponse.Status != response.Status
+ || lastLoggedResponse.RobotInMotion != response.RobotInMotion
+ || lastLoggedResponse.SystemReady != response.SystemReady)
+ {
+ _logger?.LogInformation(
+ "J519 响应: status=0x{Status:X2}, seq={Seq}, accept={Accept}, sysrdy={SysRdy}, motion={Motion}, pose=[{Pose}], joints=[{Joints}]",
+ response.Status,
+ response.Sequence,
+ response.AcceptsCommand,
+ response.SystemReady,
+ response.RobotInMotion,
+ string.Join(", ", response.Pose.Select(v => v.ToString("F1"))),
+ string.Join(", ", response.JointDegrees.Take(6).Select(v => v.ToString("F2"))));
+ lastLoggedResponse = response;
+ }
+ else if (receiveCount % 1000 == 0)
+ {
+ _logger?.LogDebug("J519 已接收 {Count} 个响应包", receiveCount);
+ }
}
}
}
catch (OperationCanceledException)
{
- // 正常取消，退出循环。
+ _logger?.LogInformation("J519 ReceiveLoop 正常取消，共接收 {Count} 个包", receiveCount);
}
catch (ObjectDisposedException)
{
- // UDP 客户端已释放，退出循环。
+ _logger?.LogInformation("J519 ReceiveLoop 因 UDP 释放退出，共接收 {Count} 个包", receiveCount);
}
}
}
diff --git a/src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs b/src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs
index f607d00..080c3b1 100644
--- a/src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs
+++ b/src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs
@@ -1,4 +1,5 @@
using System.Net.Sockets;
+using Microsoft.Extensions.Logging;
namespace Flyshot.Runtime.Fanuc.Protocol;
@@ -114,6 +115,7 @@ public sealed class FanucStateClient : IDisposable
{
private readonly object _stateLock = new();
private readonly FanucStateClientOptions _options;
+ private readonly ILogger? _logger;
private TcpClient? _tcpClient;
private NetworkStream? _stream;
private CancellationTokenSource? _receiveCts;
@@ -130,7 +132,7 @@ public sealed class FanucStateClient : IDisposable
/// 使用默认状态通道参数初始化客户端。
///
public FanucStateClient()
- : this(new FanucStateClientOptions())
+ : this(new FanucStateClientOptions(), null)
{
}
@@ -139,10 +141,21 @@ public sealed class FanucStateClient : IDisposable
///
/// 超时和重连参数。
public FanucStateClient(FanucStateClientOptions options)
+ : this(options, null)
+ {
+ }
+
+ ///
+ /// 使用指定状态通道参数和日志记录器初始化客户端。
+ ///
+ /// 超时和重连参数。
+ /// 日志记录器；允许 null。
+ public FanucStateClient(FanucStateClientOptions options, ILogger? logger)
{
ArgumentNullException.ThrowIfNull(options);
ValidateOptions(options);
_options = options;
+ _logger = logger;
}
///
@@ -170,6 +183,8 @@ public sealed class FanucStateClient : IDisposable
throw new InvalidOperationException("状态通道已经连接，请先 Disconnect。");
}
+ _logger?.LogInformation("StateClient ConnectAsync: {Ip}:{Port}", ip, port);
+
_receiveCts = new CancellationTokenSource();
using var linkedCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken, _receiveCts.Token);
@@ -187,8 +202,9 @@ public sealed class FanucStateClient : IDisposable
{
await OpenConnectionAsync(ip, port, linkedCts.Token).ConfigureAwait(false);
}
- catch
+ catch (Exception exception)
{
+ _logger?.LogError(exception, "StateClient 连接失败: {Ip}:{Port}", ip, port);
CloseCurrentConnection();
lock (_stateLock)
{
@@ -203,6 +219,8 @@ public sealed class FanucStateClient : IDisposable
_receiveTask = Task.Run(
() => ReceiveAndReconnectLoopAsync(ip, port, _receiveCts.Token),
_receiveCts.Token);
+
+ _logger?.LogInformation("StateClient 已连接并启动接收循环: {Ip}:{Port}", ip, port);
}
///
@@ -212,6 +230,7 @@ public sealed class FanucStateClient : IDisposable
{
ObjectDisposedException.ThrowIf(_disposed, this);
+ _logger?.LogInformation("StateClient Disconnect");
Shutdown(clearLatestFrame: true);
}
@@ -268,6 +287,7 @@ public sealed class FanucStateClient : IDisposable
private async Task ReceiveAndReconnectLoopAsync(string ip, int port, CancellationToken cancellationToken)
{
var reconnectDelay = _options.ReconnectInitialDelay;
+ _logger?.LogInformation("StateClient 接收循环启动: {Ip}:{Port}", ip, port);
while (!cancellationToken.IsCancellationRequested)
{
@@ -278,14 +298,17 @@ public sealed class FanucStateClient : IDisposable
}
catch (OperationCanceledException) when (cancellationToken.IsCancellationRequested)
{
+ _logger?.LogInformation("StateClient 接收循环正常取消");
return;
}
catch (TimeoutException ex)
{
+ _logger?.LogWarning(ex, "StateClient 接收超时");
MarkReceiveFailure(FanucStateConnectionState.TimedOut, ex.Message);
}
catch (Exception ex) when (ex is IOException or InvalidDataException or SocketException or ObjectDisposedException)
{
+ _logger?.LogWarning(ex, "StateClient 连接异常，准备重连");
MarkReceiveFailure(FanucStateConnectionState.Reconnecting, ex.Message);
}
@@ -312,6 +335,8 @@ public sealed class FanucStateClient : IDisposable
}
var buffer = new byte[FanucStateProtocol.StateFrameLength];
+ long frameCount = 0;
+ FanucStateFrame? lastLoggedFrame = null;
while (!cancellationToken.IsCancellationRequested)
{
@@ -325,6 +350,26 @@ public sealed class FanucStateClient : IDisposable
_connectionState = FanucStateConnectionState.Connected;
_lastErrorMessage = null;
}
+
+ frameCount++;
+
+ // 仅在状态变化或首次接收时记录 Info，避免高频日志。
+ if (lastLoggedFrame is null
+ || lastLoggedFrame.CartesianPose[0] != frame.CartesianPose[0]
+ || !lastLoggedFrame.RawTailWords.SequenceEqual(frame.RawTailWords))
+ {
+ _logger?.LogInformation(
+ "StateClient 收到状态帧: pose=[{X:F1}, {Y:F1}, {Z:F1}], tail=[{Tail}]",
+ frame.CartesianPose[0],
+ frame.CartesianPose[1],
+ frame.CartesianPose[2],
+ string.Join(", ", frame.RawTailWords));
+ lastLoggedFrame = frame;
+ }
+ else if (frameCount % 1000 == 0)
+ {
+ _logger?.LogDebug("StateClient 已接收 {Count} 个状态帧", frameCount);
+ }
}
}
@@ -367,6 +412,8 @@ public sealed class FanucStateClient : IDisposable
var tcpClient = new TcpClient { NoDelay = true };
try
{
+ _logger?.LogInformation("StateClient 正在连接 {Ip}:{Port}...", ip, port);
+
using var timeoutCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
timeoutCts.CancelAfter(_options.ConnectTimeout);
await tcpClient.ConnectAsync(ip, port, timeoutCts.Token).ConfigureAwait(false);
@@ -378,14 +425,18 @@ public sealed class FanucStateClient : IDisposable
_lastConnectedAt = DateTimeOffset.UtcNow;
_connectionState = FanucStateConnectionState.Connected;
}
+
+ _logger?.LogInformation("StateClient 已连接到 {Ip}:{Port}", ip, port);
}
catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)
{
+ _logger?.LogWarning("StateClient 连接 {Ip}:{Port} 超时", ip, port);
tcpClient.Dispose();
throw new TimeoutException("状态通道建连超时。");
}
- catch
+ catch (Exception ex)
{
+ _logger?.LogWarning(ex, "StateClient 连接 {Ip}:{Port} 失败", ip, port);
tcpClient.Dispose();
throw;
}
@@ -409,6 +460,12 @@ public sealed class FanucStateClient : IDisposable
_connectionState = FanucStateConnectionState.Reconnecting;
}
+ _logger?.LogInformation(
+ "StateClient 将在 {Delay}ms 后尝试重连 {Ip}:{Port}...",
+ nextDelay.TotalMilliseconds,
+ ip,
+ port);
+
await Task.Delay(nextDelay, cancellationToken).ConfigureAwait(false);
lock (_stateLock)
@@ -419,6 +476,11 @@ public sealed class FanucStateClient : IDisposable
try
{
await OpenConnectionAsync(ip, port, cancellationToken).ConfigureAwait(false);
+ _logger?.LogInformation(
+ "StateClient 重连成功: {Ip}:{Port}, 累计重连次数={Count}",
+ ip,
+ port,
+ _reconnectAttemptCount);
return _options.ReconnectInitialDelay;
}
catch (OperationCanceledException) when (cancellationToken.IsCancellationRequested)
@@ -434,6 +496,13 @@ public sealed class FanucStateClient : IDisposable
_lastErrorMessage = ex.Message;
}
+ _logger?.LogWarning(
+ ex,
+ "StateClient 重连失败: {Ip}:{Port}, 下次等待={NextDelay}ms",
+ ip,
+ port,
+ nextDelay.TotalMilliseconds * 2);
+
nextDelay = IncreaseReconnectDelay(nextDelay);
}
}
@@ -470,6 +539,8 @@ public sealed class FanucStateClient : IDisposable
_connectionState = state;
_lastErrorMessage = message;
}
+
+ _logger?.LogWarning("StateClient 接收失败: state={State}, message={Message}", state, message);
}
///
diff --git a/src/Flyshot.Server.Host/Controllers/DebugConsoleController.cs b/src/Flyshot.Server.Host/Controllers/DebugConsoleController.cs
index d0e226f..1edb439 100644
--- a/src/Flyshot.Server.Host/Controllers/DebugConsoleController.cs
+++ b/src/Flyshot.Server.Host/Controllers/DebugConsoleController.cs
@@ -5,1159 +5,17 @@ using Microsoft.Extensions.Options;
namespace Flyshot.Server.Host.Controllers;
///
-/// 提供浏览器内的在线 API 调试页面。
-/// 页面会在加载时拉取 Swagger JSON，按 OpenAPI 自动渲染所有端点的入参表单、Body 编辑器和响应面板。
+/// 提供浏览器调试页所需的运行时配置 API。
///
///
-/// 本控制器自身不进入 Swagger 文档（），
-/// 仅作为静态 HTML 出口；调试页和 Swagger UI 共用 Swagger:Enabled 开关，
-/// 关闭后两者一同下线，避免生产环境意外暴露调试入口。
+/// 本控制器自身不进入 Swagger 文档（）。
+/// 调试页静态资源位于 wwwroot，Swagger 地址由配置 API 下发。
///
[ApiController]
[ApiExplorerSettings(IgnoreApi = true)]
[Tags("基础与状态")]
public sealed class DebugConsoleController : ControllerBase
{
- ///
- /// 调试页 HTML 模板：内嵌 CSS、HTML 骨架与原生 JS，零外部依赖，适配现场离线环境。
- /// 模板中的 __SWAGGER_JSON_URL__ 占位符在返回前会被替换为实际的 Swagger JSON 地址。
- ///
- private const string DebugConsoleHtmlTemplate = """
-
-
-
-
-
- Flyshot Replacement 接口调试
-
-
-
-
-
-
Flyshot Replacement 接口调试
-
-
-
Flyshot Replacement 状态监控
-
-
-
- 控制器
-
- - 服务端版本
- --
- - 客户端版本
- --
- - 已初始化
- --
- - 已使能
- --
- - J519 状态
- --
- - J519 序号
- --
- - 采样时间
- --
-
-
-
- 机器人
-
- - 自由度
- --
- - 关节位置
- --
- - TCP 位姿
- --
- - 已上传轨迹
- --
-
-
-
+
Flyshot Replacement 接口调试
+
+
+
Flyshot Replacement 状态监控
+
+
+
+ 控制器
+
+ - 服务端版本
- --
+ - 客户端版本
- --
+ - 已初始化
- --
+ - 已使能
- --
+ - J519 状态
- --
+ - J519 序号
- --
+ - 采样时间
- --
+
+
+
+ 机器人
+
+ - 自由度
- --
+ - 关节位置
- --
+ - TCP 位姿
- --
+ - 已上传轨迹
- --
+
+
+