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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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18
tests/Flyshot.Core.Tests/OfflinePlanTests.cs
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@@ -2,7 +2,6 @@ using Flyshot.Core.Config;
using Flyshot.Core.Domain;
using Flyshot.Core.Planning;
using Flyshot.Core.Planning.Export;
using Flyshot.Core.Planning.Kinematics;
using Flyshot.Core.Planning.Sampling;
using Flyshot.Core.Triggering;
using Xunit.Abstractions;
@@ -24,12 +23,11 @@ public sealed class OfflinePlanTests
/// 使用预设参数生成离线轨迹，输出到 analysis/output/dotnet/。
/// </summary>
[Theory]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL9_EAU_90", false, 1.0)]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL9_EAU_90", true, 0.9)]
[InlineData("Rvbust/EOL10_EAU_0/EOL10_EAU_0.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL10_EAU_0", false, 1.0)]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "EOL9_EAU_90", false, 1.0)]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "EOL9_EAU_90", true, 0.9)]
[InlineData("Rvbust/EOL10_EAU_0/EOL10_EAU_0.json", "EOL10_EAU_0", false, 1.0)]
public void GenerateTrajectory_MatchesPythonDemo(
string configPath,
string robotModelPath,
string trajName,
bool useSelfAdapt,
double speedRatio)
@@ -42,9 +40,13 @@ public sealed class OfflinePlanTests
// 1. 加载配置和模型。
var loadedConfig = new RobotConfigLoader().Load(resolvedConfigPath, repoRoot: workspaceRoot);
var program = loadedConfig.Programs[trajName];
var resolvedRobotModelPath = Path.Combine(workspaceRoot, robotModelPath);
var baseProfile = new RobotModelLoader().LoadProfile(resolvedRobotModelPath, loadedConfig.Robot.AccLimitScale, loadedConfig.Robot.JerkLimitScale);
var kinematicsModel = new RobotModelLoader().LoadKinematicsModel(resolvedRobotModelPath);
var resolvedRobotModelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "LR_Mate_200iD_7L.json");
var loadedModel = new RobotModelLoader().LoadProfileAndKinematics(
resolvedRobotModelPath,
loadedConfig.Robot.AccLimitScale,
loadedConfig.Robot.JerkLimitScale);
var baseProfile = loadedModel.Profile;
var kinematicsModel = loadedModel.KinematicsModel;
// 2. 应用 speed_ratio 缩放。
var scaledProfile = ScaleRobotProfile(baseProfile, speedRatio);