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🐛 fix(fanuc): 修复 J519 队列等待与日志注入

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* 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
This commit is contained in:
yunxiao.zhu
2026-06-30 16:05:23 +08:00
parent 9a01ce851d
commit e0162b72b3
4 changed files with 101 additions and 21 deletions
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60
src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs
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@@ -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。

4
src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs
View File

@@ -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 })