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✨ feat(*): 添加 J519 实发重采样与 JSON 机型模型

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* 新增 J519 实发采样器，按 8ms 周期生成 timing/jerk 诊断行并完成 rad->deg 转换
* 兼容层产物导出补充 speedRatio，规划编排补齐 smoothStartStopTiming 与日志透传
* 配置与机型加载切换到运行目录 JSON 模型，并补齐 7L 展开模型与相关单元测试
This commit is contained in:
yunxiao.zhu
2026-05-07 17:08:32 +08:00
parent 70b0ccd414
commit c6829d214a
26 changed files with 1417 additions and 409 deletions
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60
src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs
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@@ -22,11 +22,14 @@ public sealed class ControllerClientTrajectoryOrchestrator
/// 初始化轨迹编排器。
/// </summary>
/// <param name="logger">日志记录器；允许 null。</param>
public ControllerClientTrajectoryOrchestrator(ILogger<ControllerClientTrajectoryOrchestrator>? logger = null)
/// <param name="loggerFactory">日志工厂；允许 null。</param>
public ControllerClientTrajectoryOrchestrator(
ILogger<ControllerClientTrajectoryOrchestrator>? logger = null,
ILoggerFactory? loggerFactory = null)
{
_logger = logger;
_icspPlanner = new(logger: null);
_selfAdaptIcspPlanner = new(logger: null);
_icspPlanner = new(logger: loggerFactory?.CreateLogger<ICspPlanner>());
_selfAdaptIcspPlanner = new(logger: loggerFactory?.CreateLogger<SelfAdaptIcspPlanner>());
}
/// <summary>
@@ -97,8 +100,8 @@ public sealed class ControllerClientTrajectoryOrchestrator
var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
_logger?.LogInformation(
"PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}",
uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache, effectivePlanningSpeedScale);
"PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}",
uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache, effectivePlanningSpeedScale, settings.SmoothStartStopTiming);
var program = CreateProgram(
name: uploaded.Name,
@@ -109,21 +112,21 @@ public sealed class ControllerClientTrajectoryOrchestrator
var method = ParseFlyshotMethod(options.Method);
var cacheKey = CreateFlyshotCacheKey(planningRobot, uploaded, options, settings, effectivePlanningSpeedScale);
if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
{
_logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
var executionTrajectory = ApplySmoothStartStopTiming(cachedBundle.PlannedTrajectory);
var executionTimeline = _shotTimelineBuilder.Build(
executionTrajectory,
holdCycles: settings.IoKeepCycles,
samplePeriod: planningRobot.ServoPeriod,
useDo: settings.UseDo);
// 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,
executionTimeline,
CreateResult(executionTrajectory, executionTimeline, usedCache: true, shapeTrajectoryEdges: false));
}
//if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
//{
// _logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
// var executionTrajectory = ApplyExecutionTiming(cachedBundle.PlannedTrajectory, settings);
// var executionTimeline = _shotTimelineBuilder.Build(
// executionTrajectory,
// holdCycles: settings.IoKeepCycles,
// samplePeriod: planningRobot.ServoPeriod,
// useDo: settings.UseDo);
// // 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,
// executionTimeline,
// CreateResult(executionTrajectory, executionTimeline, usedCache: true, shapeTrajectoryEdges: false));
//}
var request = new TrajectoryRequest(
robot: planningRobot,
@@ -134,7 +137,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
useCache: options.UseCache);
var plannedTrajectory = PlanByMethod(request, method, settings);
var smoothedExecutionTrajectory = ApplySmoothStartStopTiming(plannedTrajectory);
var smoothedExecutionTrajectory = ApplyExecutionTiming(plannedTrajectory, settings);
var shotTimeline = _shotTimelineBuilder.Build(
smoothedExecutionTrajectory,
holdCycles: settings.IoKeepCycles,
@@ -244,6 +247,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
hash.Add(settings.UseDo);
hash.Add(settings.IoKeepCycles);
hash.Add(settings.AdaptIcspTryNum);
hash.Add(settings.SmoothStartStopTiming);
foreach (var limit in robot.JointLimits)
{
@@ -297,6 +301,20 @@ public sealed class ControllerClientTrajectoryOrchestrator
adaptIcspTryNum: 5);
}
/// <summary>
/// 按运行配置决定是否对规划结果做执行前时间轴重映射。
/// </summary>
/// <param name="plannedTrajectory">规划阶段得到的轨迹。</param>
/// <param name="settings">当前 RobotConfig.json 解析出的兼容设置。</param>
/// <returns>运行时真正用于采样和触发的轨迹。</returns>
private static PlannedTrajectory ApplyExecutionTiming(PlannedTrajectory plannedTrajectory, CompatibilityRobotSettings settings)
{
// legacy-fit 模式需要严格保留 waypoint.txt 反推出的节点时间，不能再二次改写时间轴。
return settings.SmoothStartStopTiming
? ApplySmoothStartStopTiming(plannedTrajectory)
: plannedTrajectory;
}
/// <summary>
/// 按规划全局速度倍率生成规划专用机器人约束。
/// </summary>