✨ feat(fanuc): 统一 speedRatio 执行倍率语义
* 将 speedRatio 前移到规划/准备阶段，运行时只消费已生成的 8ms 队列 * 区分旧格式规划导出与 ActualSend 实发诊断工件 * 补充普通轨迹、MoveJoint、飞拍队列和严格限幅回归测试
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@@ -67,7 +67,7 @@ public sealed class PlanningCompatibilityTests
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{
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var workspaceRoot = GetWorkspaceRoot();
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var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL9 EAU 90", "eol9_eau_90.json");
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var modelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "LR_Mate_200iD_7L.json");
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var modelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "Models", "LR_Mate_200iD_7L.json");
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var config = new RobotConfigLoader().Load(configPath);
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var baseProfile = new RobotModelLoader().LoadProfile(modelPath, config.Robot.AccLimitScale, config.Robot.JerkLimitScale);
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@@ -269,6 +269,144 @@ public sealed class PlanningCompatibilityTests
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validateJerk: false);
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}
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/// <summary>
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/// 验证飞拍最终 J519 队列的 jerk 硬约束使用严格限值，不再沿用历史上放大 4 倍的宽容口径。
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/// </summary>
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[Fact]
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public void TrajectoryLimitValidator_ThrowsForJ519Jerk_WhenStrictFinalQueueValidationIsEnabled()
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{
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var robot = CreateRobotProfile([100.0], [1000.0], [100.0]);
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var samples = new[]
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{
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new J519SendSample(0, 0.000, 0.000, 1.0, [0.0]),
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new J519SendSample(1, 0.008, 0.008, 1.0, [0.0]),
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new J519SendSample(2, 0.016, 0.016, 1.0, [0.003754]),
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new J519SendSample(3, 0.024, 0.024, 1.0, [0.007508])
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};
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var exception = Assert.Throws<InvalidOperationException>(() =>
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TrajectoryLimitValidator.ValidateJ519SendSamples(
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robot,
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samples,
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trajectoryName: "strict-final-j519",
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validateJerk: true));
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Assert.Contains("Jerk", exception.Message);
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Assert.Contains("strict-final-j519", exception.Message);
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}
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/// <summary>
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/// 验证飞拍最终发送队列在请求倍率下严格 jerk 超限时直接拒绝执行，而不是自动改写 speed_ratio。
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/// </summary>
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[Fact]
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public void FlyshotExecutionSendSequenceBuilder_ThrowsInsteadOfRewritingRequestedSpeedRatio()
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{
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var robot = CreateRobotProfile([100.0], [10000.0], [800.0]);
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var program = CreateProgram(
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[
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[0.0],
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[0.001]
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]);
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var trajectory = new PlannedTrajectory(
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robot: robot,
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originalProgram: program,
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plannedWaypoints: program.Waypoints,
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waypointTimes: [0.0, 0.024],
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segmentDurations: [0.024],
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segmentScales: [1.0],
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method: PlanningMethod.Icsp,
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iterations: 1,
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threshold: 0.0);
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var result = new TrajectoryResult(
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programName: "strict-builder",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(0.024),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 2,
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plannedWaypointCount: 2);
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var initialSamples = J519SendTrajectorySampler.SamplePlannedTrajectory(
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trajectory,
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servoPeriodSeconds: 0.008,
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speedRatio: 1.0);
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Assert.Throws<InvalidOperationException>(() =>
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TrajectoryLimitValidator.ValidateJ519SendSamples(
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robot,
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initialSamples,
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trajectoryName: "strict-builder-initial",
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validateJerk: true));
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var exception = Assert.Throws<InvalidOperationException>(() =>
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FlyshotExecutionSendSequenceBuilder.Build(
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robot,
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trajectory,
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result,
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servoPeriodSeconds: 0.008,
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requestedSpeedRatio: 1.0));
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Assert.Contains("speed_ratio=1.000000", exception.Message);
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Assert.Contains("planning_speed_scale", exception.Message);
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}
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/// <summary>
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/// 验证飞拍最终发送队列通过严格校验时，请求 speed_ratio 会原样成为最终倍率。
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/// </summary>
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[Fact]
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public void FlyshotExecutionSendSequenceBuilder_KeepsRequestedSpeedRatioWhenQueuePasses()
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{
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var robot = CreateRobotProfile([100.0], [10000.0], [10000.0]);
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var program = CreateProgram(
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[
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[0.0],
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[0.001]
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]);
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var trajectory = new PlannedTrajectory(
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robot: robot,
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originalProgram: program,
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plannedWaypoints: program.Waypoints,
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waypointTimes: [0.0, 0.024],
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segmentDurations: [0.024],
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segmentScales: [1.0],
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method: PlanningMethod.Icsp,
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iterations: 1,
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threshold: 0.0);
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var result = new TrajectoryResult(
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programName: "rewrite-speedratio-builder",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(0.024),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 2,
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plannedWaypointCount: 2);
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var prepared = FlyshotExecutionSendSequenceBuilder.Build(
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robot,
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trajectory,
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result,
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servoPeriodSeconds: 0.008,
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requestedSpeedRatio: 0.8);
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Assert.Equal(0.8, prepared.RequestSpeedRatio, precision: 6);
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Assert.Equal(0.8, prepared.FinalSpeedRatio, precision: 6);
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Assert.Equal(0, prepared.StretchIterationCount);
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Assert.All(prepared.Samples, sample => Assert.Equal(0.8, sample.SpeedRatio, precision: 6));
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Assert.All(prepared.TimingRows, row =>
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{
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Assert.Equal(0.8, row[3], precision: 6);
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Assert.Equal(0.8, row[4], precision: 6);
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Assert.Equal(0.0, row[5], precision: 6);
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});
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}
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/// <summary>
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/// 构造一个最小 RobotProfile，便于规划层单元测试聚焦在时间轴逻辑上。
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/// </summary>
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