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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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16
src/Flyshot.Core.Config/RobotConfigLoader.cs
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@@ -19,7 +19,8 @@ public sealed class CompatibilityRobotSettings
double accLimitScale,
double jerkLimitScale,
int adaptIcspTryNum,
double planningSpeedScale = 1.0)
double planningSpeedScale = 1.0,
bool smoothStartStopTiming = true)
{
ArgumentNullException.ThrowIfNull(ioAddresses);
@@ -62,6 +63,7 @@ public sealed class CompatibilityRobotSettings
JerkLimitScale = jerkLimitScale;
AdaptIcspTryNum = adaptIcspTryNum;
PlanningSpeedScale = planningSpeedScale;
SmoothStartStopTiming = smoothStartStopTiming;
}
/// <summary>
@@ -94,6 +96,11 @@ public sealed class CompatibilityRobotSettings
/// </summary>
public double PlanningSpeedScale { get; }
/// <summary>
/// 获取是否在飞拍执行前对整段时间轴做二次平滑起停重映射。
/// </summary>
public bool SmoothStartStopTiming { get; }
/// <summary>
/// 获取自适应补点最大尝试次数。
/// </summary>
@@ -180,7 +187,8 @@ public sealed class RobotConfigLoader
accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0),
jerkLimitScale: ReadDouble(robotElement, "jerk_limit", defaultValue: 1.0),
adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0),
planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0));
planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0),
smoothStartStopTiming: ReadBoolean(robotElement, "smooth_start_stop_timing", defaultValue: true));
var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
foreach (var programElement in flyingShotsElement.EnumerateObject())
@@ -191,8 +199,8 @@ public sealed class RobotConfigLoader
}
_logger?.LogInformation(
"RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.AdaptIcspTryNum, programs.Count);
"RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.SmoothStartStopTiming, robot.AdaptIcspTryNum, programs.Count);
return new LoadedRobotConfig(
sourcePath: resolvedConfigPath,