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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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10
tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs
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@@ -34,7 +34,7 @@ public sealed class ControllerClientCompatConfigRootTests
}
/// <summary>
/// 验证机器人目录优先从显式 ConfigRoot/Models 加载 .robot 文件。
/// 验证机器人目录优先从显式 ConfigRoot/Models 加载现场 JSON 模型文件。
/// </summary>
[Fact]
public void ControllerClientCompatRobotCatalog_LoadsModelFromConfigRootModels()
@@ -48,7 +48,7 @@ public sealed class ControllerClientCompatConfigRootTests
var profile = catalog.LoadProfile("FANUC_LR_Mate_200iD");
Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.robot"), profile.ModelPath);
Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.json"), profile.ModelPath);
}
finally
{
@@ -117,15 +117,15 @@ public sealed class ControllerClientCompatConfigRootTests
}
/// <summary>
/// 复制仓库内已固化的现场机器人模型到临时 Config/Models 目录。
/// 复制仓库内已固化的现场机器人 JSON 模型到临时 Config/Models 目录。
/// </summary>
private static void CopySampleRobotModel(string configRoot)
{
var modelDir = Path.Combine(configRoot, "Models");
Directory.CreateDirectory(modelDir);
File.Copy(
Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.robot"),
Path.Combine(modelDir, "LR_Mate_200iD_7L.robot"));
Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.json"),
Path.Combine(modelDir, "LR_Mate_200iD_7L.json"));
}
/// <summary>