🐛 fix(fanuc): 修复 J519 队列等待与日志注入

* 为 FANUC 命令、状态和 J519 客户端注入独立日志记录器 * 补充不可接收命令状态下队列完成等待的回归测试 * 调整 J519 命令流结束后的状态处理语义
2026-06-30 16:05:23 +08:00
parent 9a01ce851d
commit e0162b72b3
4 changed files with 101 additions and 21 deletions
--- a/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs
+++ b/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs
@@ -39,23 +39,49 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
    /// 初始化 FANUC 控制器运行时。
    /// </summary>
    /// <param name="logger">运行时日志记录器。</param>
+    /// <param name="commandLogger">FANUC 10012 命令通道客户端日志记录器。</param>
+    /// <param name="stateLogger">FANUC 10010 状态通道客户端日志记录器。</param>
    /// <param name="j519Logger">J519 客户端日志记录器。</param>
-    public FanucControllerRuntime(ILogger<FanucControllerRuntime> logger, ILogger<FanucJ519Client> j519Logger)
+    public FanucControllerRuntime(
+        ILogger<FanucControllerRuntime> logger,
+        ILogger<FanucCommandClient> commandLogger,
+        ILogger<FanucStateClient> stateLogger,
+        ILogger<FanucJ519Client> j519Logger)
    {
        ArgumentNullException.ThrowIfNull(logger);
+        ArgumentNullException.ThrowIfNull(commandLogger);
+        ArgumentNullException.ThrowIfNull(stateLogger);
        ArgumentNullException.ThrowIfNull(j519Logger);

-        _commandClient = new FanucCommandClient();
-        _stateClient = new FanucStateClient();
+        _commandClient = new FanucCommandClient(commandLogger);
+        _stateClient = new FanucStateClient(new FanucStateClientOptions(), stateLogger);
        _j519Client = new FanucJ519Client(j519Logger);
        _logger = logger;
    }

+    /// <summary>
+    /// 初始化 FANUC 控制器运行时，并仅显式传入运行时与 J519 日志记录器。
+    /// </summary>
+    /// <param name="logger">运行时日志记录器。</param>
+    /// <param name="j519Logger">J519 客户端日志记录器。</param>
+    public FanucControllerRuntime(ILogger<FanucControllerRuntime> logger, ILogger<FanucJ519Client> j519Logger)
+        : this(
+            logger,
+            NullLogger<FanucCommandClient>.Instance,
+            NullLogger<FanucStateClient>.Instance,
+            j519Logger)
+    {
+    }
+
    /// <summary>
    /// 初始化一份无日志的 FANUC 控制器运行时，供离线测试或手工构造场景使用。
    /// </summary>
    public FanucControllerRuntime()
-        : this(NullLogger<FanucControllerRuntime>.Instance, NullLogger<FanucJ519Client>.Instance)
+        : this(
+            NullLogger<FanucControllerRuntime>.Instance,
+            NullLogger<FanucCommandClient>.Instance,
+            NullLogger<FanucStateClient>.Instance,
+            NullLogger<FanucJ519Client>.Instance)
    {
    }

@@ -737,18 +763,20 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
                        sample.TrajectoryTime);
                }
            }
-            if (_j519Client.EndCommandStreamAfterQueueDrained && commands.Count > 0)
-            {
-                // 正常结束命令流时追加独立结束帧，避免把最后一个真实轨迹采样点和结束语义混在一起。
-                commands.Add(new FanucJ519Command(
-                    sequence: 0,
-                    targetJoints: commands[^1].TargetJoints,
-                    lastData: 1,
-                    writeIoType: 2,
-                    writeIoIndex: 1,
-                    writeIoMask: 0,
-                    writeIoValue: 0));
-            }
+            //TODO 不进行结束,一致发送最后一帧
+
+            // if (_j519Client.EndCommandStreamAfterQueueDrained && commands.Count > 0)
+            // {
+            //     // 正常结束命令流时追加独立结束帧，避免把最后一个真实轨迹采样点和结束语义混在一起。
+            //     commands.Add(new FanucJ519Command(
+            //         sequence: 0,
+            //         targetJoints: commands[^1].TargetJoints,
+            //         lastData: 1,
+            //         writeIoType: 2,
+            //         writeIoIndex: 1,
+            //         writeIoMask: 0,
+            //         writeIoValue: 0));
+            // }
            TryWriteDenseSendArtifacts(result, outputDir, sentJointRows, sentTimingRows, sentJerkRows, triggerBindings);

            // 上层只负责生成完整目标序列，真实出队节拍交给 J519 状态包驱动。
--- a/src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs
+++ b/src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs
@@ -609,8 +609,8 @@ public sealed class FanucJ519Client : IDisposable
            if (_endCommandStreamAfterQueueDrained && command.LastData == 1)
            {
                // LastData 是命令流的正常结束语义；结束后保留状态接收，但不继续回发保姿包。
-                _monitorOnlyAfterLastData = true;
-                _motionStarted = false;
+                // _monitorOnlyAfterLastData = true;
+                // _motionStarted = false;
                CompleteCommandQueueLocked();
            }
            else if (willDrainQueue && _commandQueue is { Count: 0 })
--- a/tests/Flyshot.Core.Tests/FanucControllerRuntimeLoggingRegistrationTests.cs
+++ b/tests/Flyshot.Core.Tests/FanucControllerRuntimeLoggingRegistrationTests.cs
@@ -1,5 +1,6 @@
 using Flyshot.Runtime.Common;
 using Flyshot.Runtime.Fanuc;
+using Flyshot.Runtime.Fanuc.Protocol;
 using Microsoft.Extensions.DependencyInjection;
 using System.Reflection;

@@ -14,7 +15,7 @@ public sealed class FanucControllerRuntimeLoggingRegistrationTests
    /// 验证宿主按 IControllerRuntime 解析 FANUC 运行时时，不会因为可选日志参数而退回到无日志实例。
    /// </summary>
    [Fact]
-    public void ServiceProvider_Resolves_FanucControllerRuntime_WithLogger()
+    public void ServiceProvider_Resolves_FanucControllerRuntime_WithAllClientLoggers()
    {
        var services = new ServiceCollection();
        services.AddLogging();
@@ -28,5 +29,27 @@ public sealed class FanucControllerRuntimeLoggingRegistrationTests

        Assert.NotNull(loggerField);
        Assert.NotNull(loggerField!.GetValue(concreteRuntime));
+
+        AssertClientLoggerIsInjected<FanucCommandClient>(concreteRuntime, "_commandClient");
+        AssertClientLoggerIsInjected<FanucStateClient>(concreteRuntime, "_stateClient");
+        AssertClientLoggerIsInjected<FanucJ519Client>(concreteRuntime, "_j519Client");
+    }
+
+    /// <summary>
+    /// 断言运行时持有的底层协议客户端已注入对应类型的日志记录器。
+    /// </summary>
+    /// <typeparam name="TClient">待检查的协议客户端类型。</typeparam>
+    /// <param name="runtime">已经通过依赖注入解析出的 FANUC 运行时。</param>
+    /// <param name="clientFieldName">运行时内部保存该客户端实例的字段名。</param>
+    private static void AssertClientLoggerIsInjected<TClient>(FanucControllerRuntime runtime, string clientFieldName)
+    {
+        var clientField = typeof(FanucControllerRuntime).GetField(clientFieldName, BindingFlags.Instance | BindingFlags.NonPublic);
+
+        Assert.NotNull(clientField);
+        var client = Assert.IsType<TClient>(clientField!.GetValue(runtime));
+        var loggerField = typeof(TClient).GetField("_logger", BindingFlags.Instance | BindingFlags.NonPublic);
+
+        Assert.NotNull(loggerField);
+        Assert.NotNull(loggerField!.GetValue(client));
    }
 }
--- a/tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs
+++ b/tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs
@@ -279,6 +279,34 @@ public sealed class FanucJ519ClientTests : IDisposable
        Assert.True(client.IsCommandQueueDrainedForTests());
    }

+    /// <summary>
+    /// 验证机器人持续不可接收命令时，后续装载的命令队列会被完成，避免执行请求永久等待。
+    /// </summary>
+    [Fact]
+    public async Task LoadCommandQueue_WhenLatestStatusDoesNotAcceptCommands_CompletesQueueWait()
+    {
+        using var client = new FanucJ519Client();
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var initResult = await _server.ReceiveAsync(_cts.Token);
+
+        client.StartMotion();
+        await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 900, status: 0x04);
+        await Task.Delay(100, _cts.Token);
+
+        client.LoadCommandQueue(
+        [
+            new FanucJ519Command(sequence: 0, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+        ]);
+        await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 901, status: 0x04);
+
+        await client.WaitForCommandQueueDrainedAsync(_cts.Token).WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
+        await Assert.ThrowsAsync<TimeoutException>(
+            () => _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromMilliseconds(120)));
+
+        Assert.True(client.IsCommandQueueDrainedForTests());
+        await client.StopMotionAsync(_cts.Token);
+    }
+
    /// <summary>
    /// 验证启用命令流结束开关后，LastData 结束帧发送完成会进入仅监控状态，不再继续回发保姿命令。
    /// </summary>
@@ -572,13 +600,14 @@ public sealed class FanucJ519ClientTests : IDisposable
    private async Task SendStatusPacketAsync(
        IPEndPoint clientEndpoint,
        uint sequence,
-        IReadOnlyList<double>? jointDegrees = null)
+        IReadOnlyList<double>? jointDegrees = null,
+        byte status = 15)
    {
        var responsePacket = new byte[FanucJ519Protocol.ResponsePacketLength];
        BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x00, 4), 0);
        BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x04, 4), 1);
        BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x08, 4), sequence);
-        responsePacket[0x0c] = 15;
+        responsePacket[0x0c] = status;

        if (jointDegrees is not null)
        {