diff --git a/Config/RobotConfig.json b/Config/RobotConfig.json index a8ba07a..a3ed48c 100644 --- a/Config/RobotConfig.json +++ b/Config/RobotConfig.json @@ -1,13 +1,14 @@ { "robot": { - "use_do": true, - "io_addr": [ - 7, - 8 - ], - "io_keep_cycles": 2, - "acc_limit": 1, - "jerk_limit": 1, + "use_do": true, + "io_addr": [ + 7, + 8 + ], + "io_keep_cycles": 2, + "trigger_sample_index_offset_cycles": 6, + "acc_limit": 1, + "jerk_limit": 1, "adapt_icsp_try_num": 5, "planning_speed_scale": 0.74227, "smooth_start_stop_timing": false @@ -300,4 +301,4 @@ ] } } -} \ No newline at end of file +} diff --git a/analysis/2026042802-1/2026042802-1_analysis_summary.json b/analysis/2026042802-1/2026042802-1_analysis_summary.json new file mode 100644 index 0000000..48ff058 --- /dev/null +++ b/analysis/2026042802-1/2026042802-1_analysis_summary.json @@ -0,0 +1,21 @@ +{ + "pcap_path": "D:\\Dev\\Codes\\rvbust-code\\FlyingShotPkg_3.15_VDA\\Rvbust\\uttc-20260428\\2026042802-1.pcap", + "all_command_count": 1788, + "trigger_count": 17, + "existing_runtime_actual_send_exists": true, + "existing_runtime_actual_send_has_io_columns": false, + "existing_shot_events_exists": true, + "pcap_specific_combined_export_preexisting": false, + "average_max_error_deg": 4.241583591714439, + "max_error_deg": 11.130744251720401, + "average_rms_error_deg": 2.5406136706026206, + "max_error_axis_counter": { + "J6": 9, + "J4": 5, + "J5": 1, + "J2": 1, + "J1": 1 + }, + "order_only_addr_mismatch_count": 14, + "real_addr_mismatch_count": 0 +} \ No newline at end of file diff --git a/analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv b/analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv new file mode 100644 index 0000000..1f0de8f --- /dev/null +++ b/analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv @@ -0,0 +1,1789 @@ 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diff --git a/analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json b/analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json new file mode 100644 index 0000000..f303ad8 --- /dev/null +++ b/analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json @@ -0,0 +1,18 @@ +{ + "rows": 17, + "best_offset_win_counts": { + "6": 17, + "7": 0, + "8": 0 + }, + "average_max_error_deg": { + "6": 4.241583591714439, + "7": 5.068092118561757, + "8": 5.9316839578472145 + }, + "average_rms_error_deg": { + "6": 2.5406136706026206, + "7": 3.021296972079456, + "8": 3.5201758351699857 + } +} \ No newline at end of file diff --git a/analysis/2026042802-1/2026042802-1_trigger_status_feedback_vs_teach_points.csv b/analysis/2026042802-1/2026042802-1_trigger_status_feedback_vs_teach_points.csv new file mode 100644 index 0000000..d14ac3f --- /dev/null +++ b/analysis/2026042802-1/2026042802-1_trigger_status_feedback_vs_teach_points.csv @@ -0,0 +1,18 @@ 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0000000..e119cce --- /dev/null +++ b/analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py @@ -0,0 +1,363 @@ +#!/usr/bin/env python3 +"""提取 2026042802-1 抓包中的 60015 状态反馈，并和 UTTC_MS11 示教点对比。""" + +from __future__ import annotations + +import csv +import json +import math +import struct +import subprocess +from collections import Counter +from pathlib import Path + + +REPO_ROOT = Path(__file__).resolve().parents[1] +DEFAULT_PCAP = REPO_ROOT.parent / "Rvbust" / "uttc-20260428" / "2026042802-1.pcap" +DEFAULT_TSHARK = Path(r"D:\Zyx\Downloads\WiresharkPortable32\App\Wireshark\tshark.exe") +OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1" +CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json" +SEARCH_WINDOW_CYCLES = 20 + + +def be_u32(data: bytes, offset: int) -> int: + """按大端读取 4 字节无符号整数。""" + return struct.unpack(">I", data[offset : offset + 4])[0] + + +def be_u16(data: bytes, offset: int) -> int: + """按大端读取 2 字节无符号整数。""" + return struct.unpack(">H", data[offset : offset + 2])[0] + + +def be_f32(data: bytes, offset: int) -> float: + """按大端读取 4 字节浮点数。""" + return struct.unpack(">f", data[offset : offset + 4])[0] + + +def load_udp_rows(pcap: Path, tshark: Path) -> list[list[str]]: + """提取 UDP 60015 原始字段，后续按方向和长度拆分命令与状态。""" + command = [ + str(tshark), + "-r", + str(pcap), + "-Y", + "udp.port==60015", + "-T", + "fields", + "-e", + "frame.number", + "-e", + "frame.time_relative", + "-e", + "ip.src", + "-e", + "ip.dst", + "-e", + "udp.payload", + ] + output = subprocess.check_output(command, text=True, encoding="utf-8", errors="ignore") + rows: list[list[str]] = [] + for line in output.splitlines(): + if not line.strip(): + continue + parts = line.split("\t") + if len(parts) >= 5: + rows.append(parts[:5]) + return rows + + +def decode_command_records(rows: list[list[str]], client_ip: str, robot_ip: str) -> list[dict]: + """把 64B J519 命令帧解码成结构化记录。""" + records: list[dict] = [] + for frame_no, time_rel, ip_src, ip_dst, payload_hex in rows: + if ip_src != client_ip or ip_dst != robot_ip: + continue + + payload = bytes.fromhex(payload_hex) + if len(payload) != 64: + continue + + records.append( + { + "frame_number": int(frame_no), + "time_relative_s": float(time_rel), + "sequence": be_u32(payload, 0x08), + "write_io_value": be_u16(payload, 0x18), + "j1_deg": be_f32(payload, 0x1C), + "j2_deg": be_f32(payload, 0x20), + "j3_deg": be_f32(payload, 0x24), + "j4_deg": be_f32(payload, 0x28), + "j5_deg": be_f32(payload, 0x2C), + "j6_deg": be_f32(payload, 0x30), + } + ) + return records + + +def decode_status_records(rows: list[list[str]], client_ip: str, robot_ip: str) -> list[dict]: + """把 132B J519 状态帧按运行时代码同口径解码。""" + records: list[dict] = [] + for frame_no, time_rel, ip_src, ip_dst, payload_hex in rows: + if ip_src != robot_ip or ip_dst != client_ip: + continue + + payload = bytes.fromhex(payload_hex) + if len(payload) != 132: + continue + + status = payload[0x0C] + joints = [be_f32(payload, 0x3C + index * 4) for index in range(6)] + pose = [be_f32(payload, 0x18 + index * 4) for index in range(6)] + records.append( + { + "frame_number": int(frame_no), + "time_relative_s": float(time_rel), + "sequence": be_u32(payload, 0x08), + "status": status, + "accepts_command": bool(status & 0b0001), + "received_command": bool(status & 0b0010), + "system_ready": bool(status & 0b0100), + "robot_in_motion": bool(status & 0b1000), + "read_io_value": be_u16(payload, 0x12), + "timestamp": be_u32(payload, 0x14), + "pose_x_mm": pose[0], + "pose_y_mm": pose[1], + "pose_z_mm": pose[2], + "pose_w_deg": pose[3], + "pose_p_deg": pose[4], + "pose_r_deg": pose[5], + "j1_deg": joints[0], + "j2_deg": joints[1], + "j3_deg": joints[2], + "j4_deg": joints[3], + "j5_deg": joints[4], + "j6_deg": joints[5], + } + ) + return records + + +def pick_trigger_first_high_frames(records: list[dict]) -> list[dict]: + """由于 io_keep_cycles=2，只保留每组高电平脉冲的第一帧。""" + trigger_frames: list[dict] = [] + previous_high = False + for record in records: + current_high = record["write_io_value"] > 0 + if current_high and not previous_high: + trigger_frames.append(record) + previous_high = current_high + return trigger_frames + + +def load_uttc_ms11_config() -> dict: + """读取 UTTC_MS11 的示教点和触发配置。""" + config = json.loads(CONFIG_PATH.read_text(encoding="utf-8")) + return config["flying_shots"]["UTTC_MS11"] + + +def build_diff_row(prefix: str, actual_deg: list[float], teach_deg: list[float], row: dict) -> tuple[float, float, str]: + """向结果行写入逐轴误差，并返回聚合误差。""" + diffs = [actual_deg[index] - teach_deg[index] for index in range(6)] + abs_diffs = [abs(value) for value in diffs] + max_error = max(abs_diffs) + max_error_axis = f"J{abs_diffs.index(max_error) + 1}" + rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0) + + for joint_index in range(6): + joint_no = joint_index + 1 + row[f"{prefix}_j{joint_no}_actual_deg"] = actual_deg[joint_index] + row[f"{prefix}_diff_j{joint_no}_deg"] = diffs[joint_index] + + row[f"{prefix}_max_error_axis"] = max_error_axis + row[f"{prefix}_max_error_deg"] = max_error + row[f"{prefix}_rms_error_deg"] = rms_error + return max_error, rms_error, max_error_axis + + +def build_trigger_status_rows(trigger_frames: list[dict], status_records: list[dict], shot_config: dict) -> list[dict]: + """按触发顺序对齐命令帧、当前状态帧以及最接近示教点的反馈状态帧。""" + rows: list[dict] = [] + trigger_waypoint_indices = [index for index, flag in enumerate(shot_config["shot_flags"]) if flag] + status_by_sequence = {record["sequence"]: record for record in status_records} + status_sequence_set = set(status_by_sequence) + + for trigger_no, (trigger_frame, waypoint_index) in enumerate(zip(trigger_frames, trigger_waypoint_indices), start=1): + teach_deg = [math.degrees(value) for value in shot_config["traj_waypoints"][waypoint_index]] + current_status_sequence = trigger_frame["sequence"] - 8 + current_status = status_by_sequence[current_status_sequence] + + row = { + "trigger_no": trigger_no, + "waypoint_index": waypoint_index, + "trigger_frame_number": trigger_frame["frame_number"], + "trigger_time_relative_s": trigger_frame["time_relative_s"], + "trigger_sequence": trigger_frame["sequence"], + "paired_status_frame_number": current_status["frame_number"], + "paired_status_time_relative_s": current_status["time_relative_s"], + "paired_status_sequence": current_status["sequence"], + "paired_status_timestamp": current_status["timestamp"], + "paired_status_to_trigger_sequence_delta": current_status["sequence"] - trigger_frame["sequence"], + "paired_status_to_trigger_time_ms": (current_status["time_relative_s"] - trigger_frame["time_relative_s"]) * 1000.0, + } + + for joint_index in range(6): + joint_no = joint_index + 1 + row[f"teach_j{joint_no}_deg"] = teach_deg[joint_index] + + build_diff_row( + "paired_status", + [current_status[f"j{joint_no}_deg"] for joint_no in range(1, 7)], + teach_deg, + row, + ) + + best_candidate = None + for delta_cycles in range(-SEARCH_WINDOW_CYCLES, SEARCH_WINDOW_CYCLES + 1): + candidate_sequence = current_status_sequence + delta_cycles + if candidate_sequence not in status_sequence_set: + continue + + candidate = status_by_sequence[candidate_sequence] + diffs = [candidate[f"j{joint_no}_deg"] - teach_deg[joint_no - 1] for joint_no in range(1, 7)] + rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0) + max_error = max(abs(value) for value in diffs) + score = (rms_error, max_error, abs(delta_cycles)) + if best_candidate is None or score < best_candidate["score"]: + best_candidate = { + "score": score, + "delta_cycles": delta_cycles, + "record": candidate, + } + + if best_candidate is None: + raise RuntimeError(f"Trigger {trigger_no} 未找到候选状态帧。") + + best_status = best_candidate["record"] + row["best_status_frame_number"] = best_status["frame_number"] + row["best_status_time_relative_s"] = best_status["time_relative_s"] + row["best_status_sequence"] = best_status["sequence"] + row["best_status_timestamp"] = best_status["timestamp"] + row["best_status_delta_from_paired_cycles"] = best_candidate["delta_cycles"] + row["best_status_delta_from_trigger_sequence"] = best_status["sequence"] - trigger_frame["sequence"] + row["best_status_time_after_trigger_ms"] = (best_status["time_relative_s"] - trigger_frame["time_relative_s"]) * 1000.0 + + build_diff_row( + "best_status", + [best_status[f"j{joint_no}_deg"] for joint_no in range(1, 7)], + teach_deg, + row, + ) + + rows.append(row) + + return rows + + +def write_csv(path: Path, rows: list[dict]) -> None: + """把分析结果落成 UTF-8 CSV。""" + if not rows: + raise ValueError(f"No rows to write: {path}") + + path.parent.mkdir(parents=True, exist_ok=True) + with path.open("w", newline="", encoding="utf-8") as handle: + writer = csv.DictWriter(handle, fieldnames=list(rows[0].keys())) + writer.writeheader() + writer.writerows(rows) + + +def build_summary(command_records: list[dict], trigger_status_rows: list[dict]) -> dict: + """汇总命令序列偏移和状态反馈误差分布。""" + sequence_offsets = [row["trigger_sequence"] - row["paired_status_sequence"] for row in trigger_status_rows] + best_paired_cycle_offsets = [row["best_status_delta_from_paired_cycles"] for row in trigger_status_rows] + best_trigger_sequence_offsets = [row["best_status_delta_from_trigger_sequence"] for row in trigger_status_rows] + best_time_offsets = [row["best_status_time_after_trigger_ms"] for row in trigger_status_rows] + paired_max_errors = [row["paired_status_max_error_deg"] for row in trigger_status_rows] + best_max_errors = [row["best_status_max_error_deg"] for row in trigger_status_rows] + paired_axes = Counter(row["paired_status_max_error_axis"] for row in trigger_status_rows) + best_axes = Counter(row["best_status_max_error_axis"] for row in trigger_status_rows) + + sequence_offset_counter = Counter() + trigger_frames = pick_trigger_first_high_frames(command_records) + status_pairs = {row["trigger_frame_number"]: row for row in trigger_status_rows} + for trigger_frame in trigger_frames: + sequence_offset_counter[trigger_frame["sequence"] - status_pairs[trigger_frame["frame_number"]]["paired_status_sequence"]] += 1 + + return { + "pcap_path": str(DEFAULT_PCAP), + "command_count": len(command_records), + "trigger_count": len(trigger_status_rows), + "command_minus_paired_status_sequence_counter": dict(sequence_offset_counter), + "paired_status_average_max_error_deg": sum(paired_max_errors) / len(paired_max_errors), + "paired_status_max_error_deg": max(paired_max_errors), + "paired_status_max_error_axis_counter": dict(paired_axes), + "best_status_average_max_error_deg": sum(best_max_errors) / len(best_max_errors), + "best_status_max_error_deg": max(best_max_errors), + "best_status_max_error_axis_counter": dict(best_axes), + "best_status_delta_from_paired_cycles_counter": dict(Counter(best_paired_cycle_offsets)), + "best_status_delta_from_trigger_sequence_counter": dict(Counter(best_trigger_sequence_offsets)), + "best_status_time_after_trigger_ms_min": min(best_time_offsets), + "best_status_time_after_trigger_ms_max": max(best_time_offsets), + "best_status_time_after_trigger_ms_avg": sum(best_time_offsets) / len(best_time_offsets), + "search_window_cycles": SEARCH_WINDOW_CYCLES, + } + + +def build_manual_compare_rows(trigger_status_rows: list[dict]) -> list[dict]: + """整理成便于人工逐点核对的三时刻对照表。""" + rows: list[dict] = [] + for row in trigger_status_rows: + rows.append( + { + "trigger_no": row["trigger_no"], + "waypoint_index": row["waypoint_index"], + "trigger_command_sequence": row["trigger_sequence"], + "trigger_command_frame": row["trigger_frame_number"], + "trigger_command_time_relative_s": row["trigger_time_relative_s"], + "trigger_current_status_sequence": row["paired_status_sequence"], + "trigger_current_status_frame": row["paired_status_frame_number"], + "trigger_current_status_time_relative_s": row["paired_status_time_relative_s"], + "command_leads_status_cycles": row["trigger_sequence"] - row["paired_status_sequence"], + "trigger_current_status_max_error_axis": row["paired_status_max_error_axis"], + "trigger_current_status_max_error_deg": row["paired_status_max_error_deg"], + "trigger_current_status_rms_error_deg": row["paired_status_rms_error_deg"], + "best_status_sequence": row["best_status_sequence"], + "best_status_frame": row["best_status_frame_number"], + "best_status_time_relative_s": row["best_status_time_relative_s"], + "best_status_delay_from_current_status_cycles": row["best_status_delta_from_paired_cycles"], + "best_status_delay_from_trigger_command_cycles": row["best_status_delta_from_trigger_sequence"], + "best_status_delay_from_trigger_command_ms": row["best_status_time_after_trigger_ms"], + "best_status_max_error_axis": row["best_status_max_error_axis"], + "best_status_max_error_deg": row["best_status_max_error_deg"], + "best_status_rms_error_deg": row["best_status_rms_error_deg"], + } + ) + return rows + + +def main() -> None: + """执行状态反馈提取、触发对齐和摘要落盘。""" + OUTPUT_DIR.mkdir(parents=True, exist_ok=True) + + rows = load_udp_rows(DEFAULT_PCAP, DEFAULT_TSHARK) + command_records = decode_command_records(rows, client_ip="192.168.10.10", robot_ip="192.168.10.11") + status_records = decode_status_records(rows, client_ip="192.168.10.10", robot_ip="192.168.10.11") + trigger_frames = pick_trigger_first_high_frames(command_records) + shot_config = load_uttc_ms11_config() + trigger_status_rows = build_trigger_status_rows(trigger_frames, status_records, shot_config) + manual_compare_rows = build_manual_compare_rows(trigger_status_rows) + summary = build_summary(command_records, trigger_status_rows) + + write_csv(OUTPUT_DIR / "2026042802-1_j519_status_feedback_all.csv", status_records) + write_csv(OUTPUT_DIR / "2026042802-1_trigger_status_feedback_vs_teach_points.csv", trigger_status_rows) + write_csv(OUTPUT_DIR / "2026042802-1_trigger_manual_compare.csv", manual_compare_rows) + (OUTPUT_DIR / "2026042802-1_status_feedback_summary.json").write_text( + json.dumps(summary, ensure_ascii=False, indent=2), + encoding="utf-8", + ) + + print(json.dumps(summary, ensure_ascii=False, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/analysis/analyze_2026042802_1_trigger_vs_teach_points.py b/analysis/analyze_2026042802_1_trigger_vs_teach_points.py new file mode 100644 index 0000000..c2db673 --- /dev/null +++ b/analysis/analyze_2026042802_1_trigger_vs_teach_points.py @@ -0,0 +1,250 @@ +#!/usr/bin/env python3 +"""提取 2026042802-1 抓包中的真实 J519 发包，并对比 UTTC_MS11 示教点。""" + +from __future__ import annotations + +import csv +import json +import math +import struct +import subprocess +from collections import Counter +from pathlib import Path + + +REPO_ROOT = Path(__file__).resolve().parents[1] +DEFAULT_PCAP = REPO_ROOT.parent / "Rvbust" / "uttc-20260428" / "2026042802-1.pcap" +DEFAULT_TSHARK = Path(r"D:\Zyx\Downloads\WiresharkPortable32\App\Wireshark\tshark.exe") +OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1" +CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json" +RUNTIME_DATA_DIR = REPO_ROOT / "Config" / "Data" / "UTTC_MS11" + + +def be_u32(data: bytes, offset: int) -> int: + """按大端读取 4 字节无符号整数。""" + return struct.unpack(">I", data[offset : offset + 4])[0] + + +def be_u16(data: bytes, offset: int) -> int: + """按大端读取 2 字节无符号整数。""" + return struct.unpack(">H", data[offset : offset + 2])[0] + + +def be_f32(data: bytes, offset: int) -> float: + """按大端读取 4 字节浮点数。""" + return struct.unpack(">f", data[offset : offset + 4])[0] + + +def load_j519_command_rows(pcap: Path, tshark: Path) -> list[list[str]]: + """只提取 UDP 60015 的原始字段，后续再按 IP 方向筛选真实下发命令。""" + command = [ + str(tshark), + "-r", + str(pcap), + "-Y", + "udp.port==60015", + "-T", + "fields", + "-e", + "frame.number", + "-e", + "frame.time_relative", + "-e", + "ip.src", + "-e", + "udp.srcport", + "-e", + "ip.dst", + "-e", + "udp.dstport", + "-e", + "udp.payload", + ] + output = subprocess.check_output(command, text=True, encoding="utf-8", errors="ignore") + rows: list[list[str]] = [] + for line in output.splitlines(): + if not line.strip(): + continue + parts = line.split("\t") + if len(parts) >= 7: + rows.append(parts[:7]) + return rows + + +def decode_command_records(rows: list[list[str]], client_ip: str, robot_ip: str) -> list[dict]: + """把抓包中的 64B J519 命令帧解码成带 IO 信息的结构化记录。""" + records: list[dict] = [] + for frame_no, time_rel, ip_src, _udp_src, ip_dst, _udp_dst, payload_hex in rows: + if ip_src != client_ip or ip_dst != robot_ip: + continue + + payload = bytes.fromhex(payload_hex) + if len(payload) != 64: + continue + + io_value = be_u16(payload, 0x18) + io_addrs = [bit + 1 for bit in range(16) if io_value & (1 << bit)] + targets = [be_f32(payload, 0x1C + index * 4) for index in range(9)] + records.append( + { + "frame_number": int(frame_no), + "time_relative_s": float(time_rel), + "sequence": be_u32(payload, 0x08), + "last_data": payload[0x0C], + "write_io_type": payload[0x13], + "write_io_index": be_u16(payload, 0x14), + "write_io_mask": be_u16(payload, 0x16), + "write_io_value": io_value, + "io_addrs": io_addrs, + "j1_deg": targets[0], + "j2_deg": targets[1], + "j3_deg": targets[2], + "j4_deg": targets[3], + "j5_deg": targets[4], + "j6_deg": targets[5], + "ext1_deg": targets[6], + "ext2_deg": targets[7], + "ext3_deg": targets[8], + } + ) + return records + + +def pick_trigger_first_high_frames(records: list[dict]) -> list[dict]: + """由于 io_keep_cycles=2，只记录每组高电平脉冲的第一帧。""" + trigger_frames: list[dict] = [] + previous_high = False + for record in records: + current_high = record["write_io_value"] > 0 + if current_high and not previous_high: + trigger_frames.append(record) + previous_high = current_high + return trigger_frames + + +def load_uttc_ms11_config() -> dict: + """读取 UTTC_MS11 的示教点和触发配置。""" + config = json.loads(CONFIG_PATH.read_text(encoding="utf-8")) + return config["flying_shots"]["UTTC_MS11"] + + +def build_trigger_vs_teach_rows(trigger_frames: list[dict], shot_config: dict) -> list[dict]: + """按 shot_flags 为 true 的 waypoint 顺序，对齐抓包触发帧和示教点。""" + rows: list[dict] = [] + trigger_waypoint_indices = [index for index, flag in enumerate(shot_config["shot_flags"]) if flag] + + for trigger_no, (frame, waypoint_index) in enumerate(zip(trigger_frames, trigger_waypoint_indices), start=1): + teach_rad = shot_config["traj_waypoints"][waypoint_index] + teach_deg = [math.degrees(value) for value in teach_rad] + actual_deg = [frame[f"j{joint_index}_deg"] for joint_index in range(1, 7)] + diffs = [actual_deg[index] - teach_deg[index] for index in range(6)] + abs_diffs = [abs(value) for value in diffs] + max_error = max(abs_diffs) + max_error_axis = f"J{abs_diffs.index(max_error) + 1}" + rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0) + + row = { + "trigger_no": trigger_no, + "waypoint_index": waypoint_index, + "frame_number": frame["frame_number"], + "sequence": frame["sequence"], + "time_relative_s": frame["time_relative_s"], + "write_io_value": frame["write_io_value"], + "io_addrs": frame["io_addrs"], + "config_addr": shot_config["addr"][waypoint_index], + "max_error_axis": max_error_axis, + "max_error_deg": max_error, + "rms_error_deg": rms_error, + } + + for joint_index in range(6): + joint_no = joint_index + 1 + row[f"j{joint_no}_actual_deg"] = actual_deg[joint_index] + row[f"j{joint_no}_teach_deg"] = teach_deg[joint_index] + row[f"diff_j{joint_no}_deg"] = diffs[joint_index] + + rows.append(row) + + return rows + + +def write_csv(path: Path, rows: list[dict]) -> None: + """把分析结果落成 UTF-8 CSV，便于后续继续筛选和画图。""" + if not rows: + raise ValueError(f"No rows to write: {path}") + + serializable_rows: list[dict] = [] + for row in rows: + serializable_row: dict = {} + for key, value in row.items(): + if isinstance(value, list): + serializable_row[key] = json.dumps(value, ensure_ascii=False) + else: + serializable_row[key] = value + serializable_rows.append(serializable_row) + + path.parent.mkdir(parents=True, exist_ok=True) + with path.open("w", newline="", encoding="utf-8") as handle: + writer = csv.DictWriter(handle, fieldnames=list(serializable_rows[0].keys())) + writer.writeheader() + writer.writerows(serializable_rows) + + +def build_summary(records: list[dict], trigger_rows: list[dict]) -> dict: + """汇总本次分析关心的导出状态和误差统计。""" + max_errors = [float(row["max_error_deg"]) for row in trigger_rows] + rms_errors = [float(row["rms_error_deg"]) for row in trigger_rows] + axis_counter = Counter(str(row["max_error_axis"]) for row in trigger_rows) + + order_only_addr_mismatch = 0 + real_addr_mismatch = 0 + for row in trigger_rows: + io_addrs = list(row["io_addrs"]) + config_addr = list(row["config_addr"]) + if io_addrs != config_addr: + if sorted(io_addrs) == sorted(config_addr): + order_only_addr_mismatch += 1 + else: + real_addr_mismatch += 1 + + return { + "pcap_path": str(DEFAULT_PCAP), + "all_command_count": len(records), + "trigger_count": len(trigger_rows), + "existing_runtime_actual_send_exists": (RUNTIME_DATA_DIR / "ActualSendJointTraj.txt").exists(), + "existing_runtime_actual_send_has_io_columns": False, + "existing_shot_events_exists": (RUNTIME_DATA_DIR / "ShotEvents.json").exists(), + "pcap_specific_combined_export_preexisting": False, + "average_max_error_deg": sum(max_errors) / len(max_errors), + "max_error_deg": max(max_errors), + "average_rms_error_deg": sum(rms_errors) / len(rms_errors), + "max_error_axis_counter": dict(axis_counter), + "order_only_addr_mismatch_count": order_only_addr_mismatch, + "real_addr_mismatch_count": real_addr_mismatch, + } + + +def main() -> None: + """执行抓包提取、示教点对齐、CSV 导出和摘要落盘。""" + OUTPUT_DIR.mkdir(parents=True, exist_ok=True) + + rows = load_j519_command_rows(DEFAULT_PCAP, DEFAULT_TSHARK) + records = decode_command_records(rows, client_ip="192.168.10.10", robot_ip="192.168.10.11") + trigger_frames = pick_trigger_first_high_frames(records) + shot_config = load_uttc_ms11_config() + trigger_rows = build_trigger_vs_teach_rows(trigger_frames, shot_config) + summary = build_summary(records, trigger_rows) + + write_csv(OUTPUT_DIR / "2026042802-1_j519_actual_send_all_with_io.csv", records) + write_csv(OUTPUT_DIR / "2026042802-1_j519_trigger_frames.csv", trigger_frames) + write_csv(OUTPUT_DIR / "2026042802-1_trigger_vs_teach_points.csv", trigger_rows) + (OUTPUT_DIR / "2026042802-1_analysis_summary.json").write_text( + json.dumps(summary, ensure_ascii=False, indent=2), + encoding="utf-8", + ) + + print(json.dumps(summary, ensure_ascii=False, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/analysis/build_trigger_offset_compare_6_7_8.py b/analysis/build_trigger_offset_compare_6_7_8.py new file mode 100644 index 0000000..4c6a579 --- /dev/null +++ b/analysis/build_trigger_offset_compare_6_7_8.py @@ -0,0 +1,137 @@ +#!/usr/bin/env python3 +"""生成 2026042802-1 抓包中触发偏移 6/7/8 周期的对照表。""" + +from __future__ import annotations + +import csv +import json +import math +from pathlib import Path + + +REPO_ROOT = Path(__file__).resolve().parents[1] +OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1" +CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json" +ACTUAL_SEND_CSV = OUTPUT_DIR / "2026042802-1_j519_actual_send_all_with_io.csv" +TRIGGER_CSV = OUTPUT_DIR / "2026042802-1_j519_trigger_frames.csv" +OUTPUT_CSV = OUTPUT_DIR / "2026042802-1_trigger_offset_6_7_8_compare.csv" +OUTPUT_JSON = OUTPUT_DIR / "2026042802-1_trigger_offset_6_7_8_summary.json" + + +def load_rows(path: Path) -> list[dict]: + with path.open(encoding="utf-8") as handle: + return list(csv.DictReader(handle)) + + +def to_float_list(record: dict, prefix: str = "j") -> list[float]: + return [float(record[f"{prefix}{index}_deg"]) for index in range(1, 7)] + + +def compute_diff_metrics(actual_deg: list[float], teach_deg: list[float]) -> tuple[list[float], float, float, str]: + diffs = [actual_deg[index] - teach_deg[index] for index in range(6)] + abs_diffs = [abs(value) for value in diffs] + max_error = max(abs_diffs) + rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0) + max_axis = f"J{abs_diffs.index(max_error) + 1}" + return diffs, max_error, rms_error, max_axis + + +def main() -> None: + actual_rows = load_rows(ACTUAL_SEND_CSV) + trigger_rows = load_rows(TRIGGER_CSV) + config = json.loads(CONFIG_PATH.read_text(encoding="utf-8"))["flying_shots"]["UTTC_MS11"] + trigger_waypoint_indices = [index for index, flag in enumerate(config["shot_flags"]) if flag] + + actual_index_by_frame = {int(row["frame_number"]): row for row in actual_rows} + actual_order_by_frame = {int(row["frame_number"]): idx for idx, row in enumerate(actual_rows)} + + output_rows: list[dict] = [] + offset_win_counts = {6: 0, 7: 0, 8: 0} + + for trigger_no, (trigger_row, waypoint_index) in enumerate(zip(trigger_rows, trigger_waypoint_indices), start=1): + trigger_frame = int(trigger_row["frame_number"]) + trigger_order = actual_order_by_frame[trigger_frame] + teach_deg = [math.degrees(value) for value in config["traj_waypoints"][waypoint_index]] + + window_start = max(0, trigger_order - 20) + window_end = min(len(actual_rows) - 1, trigger_order + 20) + best_order = trigger_order + best_rms = float("inf") + best_max = float("inf") + + for candidate_order in range(window_start, window_end + 1): + candidate = actual_rows[candidate_order] + _, max_error, rms_error, _ = compute_diff_metrics(to_float_list(candidate), teach_deg) + score = (rms_error, max_error, abs(candidate_order - trigger_order)) + if (best_rms, best_max, abs(best_order - trigger_order)) > score: + best_order = candidate_order + best_rms = rms_error + best_max = max_error + + row = { + "trigger_no": trigger_no, + "waypoint_index": waypoint_index, + "best_sample_order": best_order, + "best_frame_number": int(actual_rows[best_order]["frame_number"]), + "best_sequence": int(actual_rows[best_order]["sequence"]), + "best_time_relative_s": float(actual_rows[best_order]["time_relative_s"]), + } + + for joint_index in range(6): + row[f"teach_j{joint_index + 1}_deg"] = teach_deg[joint_index] + + for offset in (6, 7, 8): + target_order = min(len(actual_rows) - 1, best_order + offset) + target = actual_rows[target_order] + actual_deg = to_float_list(target) + diffs, max_error, rms_error, max_axis = compute_diff_metrics(actual_deg, teach_deg) + + row[f"offset_{offset}_frame_number"] = int(target["frame_number"]) + row[f"offset_{offset}_sequence"] = int(target["sequence"]) + row[f"offset_{offset}_time_relative_s"] = float(target["time_relative_s"]) + row[f"offset_{offset}_max_error_axis"] = max_axis + row[f"offset_{offset}_max_error_deg"] = max_error + row[f"offset_{offset}_rms_error_deg"] = rms_error + row[f"offset_{offset}_delta_from_best_ms"] = ( + float(target["time_relative_s"]) - float(actual_rows[best_order]["time_relative_s"]) + ) * 1000.0 + for joint_index in range(6): + joint_no = joint_index + 1 + row[f"offset_{offset}_j{joint_no}_actual_deg"] = actual_deg[joint_index] + row[f"offset_{offset}_diff_j{joint_no}_deg"] = diffs[joint_index] + + best_offset = min( + (6, 7, 8), + key=lambda offset: ( + row[f"offset_{offset}_rms_error_deg"], + row[f"offset_{offset}_max_error_deg"], + ), + ) + row["best_of_6_7_8_offset"] = best_offset + offset_win_counts[best_offset] += 1 + output_rows.append(row) + + OUTPUT_DIR.mkdir(parents=True, exist_ok=True) + with OUTPUT_CSV.open("w", newline="", encoding="utf-8") as handle: + writer = csv.DictWriter(handle, fieldnames=list(output_rows[0].keys())) + writer.writeheader() + writer.writerows(output_rows) + + summary = { + "rows": len(output_rows), + "best_offset_win_counts": offset_win_counts, + "average_max_error_deg": { + str(offset): sum(row[f"offset_{offset}_max_error_deg"] for row in output_rows) / len(output_rows) + for offset in (6, 7, 8) + }, + "average_rms_error_deg": { + str(offset): sum(row[f"offset_{offset}_rms_error_deg"] for row in output_rows) / len(output_rows) + for offset in (6, 7, 8) + }, + } + OUTPUT_JSON.write_text(json.dumps(summary, ensure_ascii=False, indent=2), encoding="utf-8") + print(json.dumps(summary, ensure_ascii=False, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/docs/2026042802-1-trigger-vs-teach-point-analysis.md b/docs/2026042802-1-trigger-vs-teach-point-analysis.md new file mode 100644 index 0000000..095c309 --- /dev/null +++ b/docs/2026042802-1-trigger-vs-teach-point-analysis.md @@ -0,0 +1,526 @@ +# 2026042802-1 抓包触发点与示教点对比记录 + +## 1. 目的 + +- 使用 `../Rvbust/uttc-20260428/2026042802-1.pcap` 确认当前仓库是否已经导出过这份抓包对应的真实运动轨迹发包记录。 +- 如果现有导出不包含 IO 触发信息，则补一份“真实 J519 发包 + IO 标记”导出。 +- 将抓包里真实触发 IO 的关节坐标，与 `Config/RobotConfig.json` 中 `flying_shots.UTTC_MS11` 的示教点逐点对比。 +- 把结论固定成仓库文档，后续继续和新程序抓包、`ShotEvents.json`、运行时导出结果做同口径比较。 + +## 2. 数据来源与口径 + +- 抓包文件：`../Rvbust/uttc-20260428/2026042802-1.pcap` +- 旧目录配置文件：`../Rvbust/uttc-20260428/RobotConfig.json` +- 新版程序运行时配置文件：`Config/RobotConfig.json` +- 对比对象：两份配置中的 `flying_shots.UTTC_MS11` +- 协议口径：只看 `192.168.10.10 -> 192.168.10.11` 的 `UDP 60015` 64B J519 命令帧 +- 触发判定：`write_io_value > 0` 视为 IO 置位 +- 去重规则：由于 `io_keep_cycles=2`，每次触发只记录首个高电平帧 +- 关节单位：抓包 J519 目标关节为 `deg`；`RobotConfig.json` `traj_waypoints` 为 `rad`，分析时先转成 `deg` + +补充说明： + +- `../Rvbust/uttc-20260428/` 目录中的内容代表旧抓包及其同目录资料。 +- `Config/Data/UTTC_MS11/` 目录中的内容代表现在新版程序的运行时导出。 +- 本文不会把两者混成同一次运行的数据；这里只拿新版程序目录里的文件做“现状参照”，核心分析对象仍然是旧抓包 `2026042802-1.pcap`。 + +## 3. 现状核对 + +### 3.1 仓库里已经存在什么 + +- 旧抓包目录已有原始抓包：`../Rvbust/uttc-20260428/2026042802-1.pcap` +- 旧抓包目录已有按运动段拆分的导出：`../Rvbust/uttc-20260428/2026042802-1_joint_segments/` +- 旧抓包目录已有速度档位整理结果：`../Rvbust/uttc-20260428/1倍速度 角度坐标点/真实轨迹JointDetialTraj.txt` +- 新版程序目录已有运行时导出：`Config/Data/UTTC_MS11/ActualSendJointTraj.txt` +- 新版程序目录已有运行时导出：`Config/Data/UTTC_MS11/ActualSendTiming.txt` +- 新版程序目录已有理论触发时间轴：`Config/Data/UTTC_MS11/ShotEvents.json` + +### 3.2 当前缺的是什么 + +- 新版程序目录中的 `ActualSendJointTraj.txt` 是现在新版程序落盘的真实发送关节轨迹，但不带 IO 列，也不属于 `2026042802-1.pcap` 这次旧抓包本身。 +- 旧抓包目录中的 `2026042802-1_joint_segments/` 是按运动段拆开的 `JointDetialTraj.txt` 风格导出，也不包含整条抓包的 IO 标记。 +- 旧抓包目录中的 `1倍速度 角度坐标点/真实轨迹JointDetialTraj.txt` 提供了真实轨迹文本，但同样不带 IO 触发列。 +- 本次分析前，没有发现一份专门对应 `2026042802-1.pcap` 的“整条真实 J519 发包记录 + IO 标记 + 触发帧筛选”组合导出。 + +结论： +旧抓包目录和新版程序目录里都已经有各自的轨迹资料，但在本次分析前，还没有一份专门对应 `2026042802-1.pcap` 的、带 IO 触发信息的整条实际发包记录。 + +## 4. 本次新增导出 + +本次补充生成了以下文件： + +- `analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv` + - `1788` 条客户端真实下发 J519 命令 + - 包含 `frame_number / time_relative_s / sequence / write_io_value / io_addrs / j1..j6` +- `analysis/2026042802-1/2026042802-1_j519_trigger_frames.csv` + - 只保留每次 IO 高电平脉冲的第一帧 + - 共 `17` 条，和 `ShotEvents.json` 的触发次数一致 +- `analysis/2026042802-1/2026042802-1_trigger_vs_teach_points.csv` + - 每个真实触发帧与 `UTTC_MS11` 示教点的逐点偏差表 +- `analysis/2026042802-1/2026042802-1_analysis_summary.json` + - 本文档引用的汇总统计 + +对应复现脚本： + +- `analysis/analyze_2026042802_1_trigger_vs_teach_points.py` + +## 5. 触发与地址核对 + +- 抓包提取到的真实触发次数：`17` +- `ShotEvents.json` 中的触发次数：`17` +- `write_io_value` 解码出的 `io_addrs` 与 `UTTC_MS11.addr` 没有真实内容不一致 +- 其中有 `14` 处列表顺序不同，例如抓包里是 `[2, 3, 4]`，配置里写的是 `[3, 4, 2]` +- 这 `14` 处只是顺序差异，不是触发地址集合差异 +- 真正的地址集合不匹配数：`0` + +结论： +`2026042802-1.pcap` 中真实发出的 IO 地址集合，与 `UTTC_MS11` 配置的 `addr` 集合是一致的。 + +## 6. 触发点与示教点误差统计 + +- 平均单点最大单轴误差：`4.241584 deg` +- 最大单轴误差：`11.130744 deg` +- 平均 RMS 误差：`2.540614 deg` +- 最大误差轴分布：`J6=9`、`J4=5`、`J5=1`、`J2=1`、`J1=1` + +这说明： + +- 这份旧抓包里的真实触发点，并不是严格贴在配置示教点上触发 +- 误差主要集中在 `J6` 和 `J4` +- 由于 `../Rvbust/uttc-20260428/RobotConfig.json` 和当前仓库 `Config/RobotConfig.json` 的 `UTTC_MS11` 四组关键字段完全一致，因此这里的“示教点”对旧抓包和当前配置是同一组数据 +- 如果用户的“对焦准确示教点”就是这组 `traj_waypoints`，那么旧程序实际触发时已经存在几度量级的偏移，而不是亚角度级别的完全重合 + +## 7. 最大偏差点 + +按最大单轴误差从大到小列出前 5 个触发点： + +| 触发序号 | waypoint_index | 实际 io_addrs | 最大误差轴 | 最大误差(deg) | RMS误差(deg) | 主要差值 | +| --- | --- | --- | --- | ---: | ---: | --- | +| 3 | 3 | `[2, 3, 4]` | `J6` | `11.130744` | `5.955608` | `J4 +8.811537`，`J6 -11.130744` | +| 7 | 7 | `[3, 4]` | `J6` | `7.194107` | `4.618545` | `J2 -5.441249`，`J4 -6.792278`，`J6 +7.194107` | +| 17 | 18 | `[3, 4]` | `J4` | `6.848522` | `4.036140` | `J2 +1.835940`，`J4 -6.848522`，`J6 +6.320424` | +| 13 | 13 | `[3, 4]` | `J1` | `6.656209` | `4.109282` | `J1 +6.656209`，`J3 -3.848692`，`J4 +3.795032` | +| 8 | 8 | `[2, 4]` | `J6` | `5.939884` | `3.533133` | `J2 -2.961069`，`J4 -5.456660`，`J6 +5.939884` | + +## 8. 逐点结果 + +完整逐点数据已写入： + +- `analysis/2026042802-1/2026042802-1_trigger_vs_teach_points.csv` + +这里保留简表，方便直接看每次触发的最大偏差： + +| 触发序号 | waypoint_index | frame | seq | time(s) | io_addrs | 最大误差轴 | 最大误差(deg) | RMS误差(deg) | +| --- | --- | ---: | ---: | ---: | --- | --- | ---: | ---: | +| 1 | 1 | 1955 | 1381124 | 5.888271 | `[2, 4]` | `J6` | `3.096909` | `2.341857` | +| 2 | 2 | 2151 | 1381198 | 6.480252 | `[2, 3, 4]` | `J4` | `2.737488` | `1.612807` | +| 3 | 3 | 2223 | 1381226 | 6.704225 | `[2, 3, 4]` | `J6` | `11.130744` | `5.955608` | +| 4 | 4 | 2336 | 1381269 | 7.048266 | `[2, 4]` | `J6` | `2.373383` | `1.439206` | +| 5 | 5 | 2477 | 1381321 | 7.464289 | `[2, 4]` | `J5` | `1.973330` | `1.273254` | +| 6 | 6 | 2665 | 1381391 | 8.024277 | `[3, 4]` | `J2` | `1.265078` | `0.786940` | +| 7 | 7 | 2811 | 1381447 | 8.472317 | `[3, 4]` | `J6` | `7.194107` | `4.618545` | +| 8 | 8 | 2908 | 1381483 | 8.760361 | `[2, 4]` | `J6` | `5.939884` | `3.533133` | +| 9 | 9 | 3112 | 1381561 | 9.384332 | `[2, 4]` | `J4` | `2.414749` | `1.565121` | +| 10 | 10 | 3170 | 1381583 | 9.560358 | `[2, 4]` | `J4` | `3.629631` | `2.268783` | +| 11 | 11 | 3350 | 1381651 | 10.104322 | `[2, 4]` | `J6` | `3.113037` | `2.115595` | +| 12 | 12 | 3470 | 1381697 | 10.472333 | `[2, 4]` | `J6` | `4.018547` | `2.003201` | +| 13 | 13 | 3627 | 1381756 | 10.944371 | `[3, 4]` | `J1` | `6.656209` | `4.109282` | +| 14 | 14 | 3710 | 1381787 | 11.192339 | `[2, 4]` | `J6` | `2.834801` | `1.514764` | +| 15 | 15 | 3796 | 1381820 | 11.456361 | `[2, 4]` | `J4` | `2.496544` | `1.640818` | +| 16 | 16 | 3870 | 1381848 | 11.680362 | `[2, 4]` | `J6` | `3.782349` | `2.176883` | +| 17 | 18 | 4138 | 1381950 | 12.496365 | `[3, 4]` | `J4` | `6.848522` | `4.036140` | + +## 9. UTTC_MS11 示教点角度表 + +为了便于和导出的触发序列直接手工比对，下面把当前 `UTTC_MS11` 示教点从 `rad` 转成 `deg`。 + +说明： + +- `waypoint_index` 使用配置里的原始下标。 +- `shot_flag=true` 表示该点在配置里是拍照点候选。 +- `addr` 保留原配置里的触发地址列表，便于和 `io_addrs` 对照。 + +| waypoint_index | shot_flag | addr | J1(deg) | J2(deg) | J3(deg) | J4(deg) | J5(deg) | J6(deg) | +| --- | --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | +| 0 | `false` | `[]` | 60.546226 | 0.668344 | -1.025155 | -0.869105 | 1.231405 | 0.548197 | +| 1 | `true` | `[2, 4]` | 48.886810 | 2.198985 | -11.021017 | 0.410210 | 6.248381 | 2.294991 | +| 2 | `true` | `[3, 4, 2]` | 55.347755 | 11.807040 | -7.009095 | -71.014331 | 6.012065 | 74.249532 | +| 3 | `true` | `[3, 4, 2]` | 55.109808 | 8.759497 | -8.518217 | -41.117250 | 10.108488 | 41.956933 | +| 4 | `true` | `[4, 2]` | 43.653593 | -1.629660 | -17.715754 | 5.995209 | 32.171718 | -22.573973 | +| 5 | `true` | `[4, 2]` | 64.582445 | 4.262979 | -15.669217 | -29.952927 | 29.850440 | 45.626527 | +| 6 | `true` | `[3, 4]` | 60.479483 | 23.068782 | -5.011264 | 36.106855 | 5.525681 | -31.302564 | +| 7 | `true` | `[3, 4]` | 70.475837 | 16.393849 | -13.456948 | -27.892319 | 14.535662 | 31.711933 | +| 8 | `true` | `[4, 2]` | 69.582464 | -17.105713 | -8.710590 | -58.475694 | 7.630590 | 64.437733 | +| 9 | `true` | `[4, 2]` | 73.571259 | -6.429845 | -9.628580 | -128.808647 | 14.671083 | 140.002048 | +| 10 | `true` | `[4, 2]` | 75.569386 | -14.679306 | -7.294156 | -130.923033 | 17.688361 | 141.893508 | +| 11 | `true` | `[4, 2]` | 86.093498 | -14.498333 | -13.681511 | -69.868296 | 26.742682 | 88.999414 | +| 12 | `true` | `[4, 2]` | 61.720733 | -4.232789 | -9.784423 | -108.384083 | 22.160772 | 118.142064 | +| 13 | `true` | `[4, 3]` | 79.757083 | 4.640231 | -15.311186 | -56.035312 | 26.133138 | 52.152257 | +| 14 | `true` | `[4, 2]` | 108.955551 | 1.370760 | -33.594425 | -48.367361 | 43.963404 | 85.039261 | +| 15 | `true` | `[4, 2]` | 110.584848 | -3.860900 | -32.396407 | -51.112591 | 44.229160 | 87.624000 | +| 16 | `true` | `[4, 2]` | 118.095952 | -17.376387 | -31.069001 | -59.560538 | 48.732576 | 94.134771 | +| 17 | `false` | `[4, 2]` | 62.573787 | -22.938069 | -10.333288 | 77.491373 | 35.583412 | -69.668648 | +| 18 | `true` | `[4, 3]` | 60.282482 | -22.938081 | -10.333248 | 77.491642 | 35.583378 | -69.668981 | +| 19 | `false` | `[]` | 60.546226 | 0.668344 | -1.025155 | -0.869105 | 1.231405 | 0.548197 | + +## 10. 结论 + +1. `../Rvbust/uttc-20260428/` 目录里已有旧抓包相关轨迹资料，`Config/Data/UTTC_MS11/` 目录里已有新版程序运行时导出，但在本次分析前，没有一份专门对应 `2026042802-1.pcap` 的“整条真实 J519 发包记录 + IO 标记”导出。 +2. 本次已经补齐该导出，文件位于 `analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv`。 +3. `2026042802-1.pcap` 的真实 IO 触发次数是 `17`，与 `ShotEvents.json` 一致。 +4. 抓包中真实触发时使用的 IO 地址集合，与 `UTTC_MS11.addr` 一致；只有列表顺序差异，没有地址集合差异。 +5. 抓包中真实触发点相对示教点的平均最大单轴误差约 `4.24 deg`，最大达到 `11.13 deg`，主要偏在 `J6` 和 `J4`。 +6. 因此，如果后续要分析“为什么新程序拍照位置偏了”，不能把 `2026042802-1.pcap` 视为“与当前示教点完全重合的零误差基准”；它本身相对当前配置示教点就存在明显偏差。 + +## 11. 触发点前 6 个周期的实际关节坐标与示教点差值 + +在这份旧抓包里，17 个真实触发点对应的“最接近示教点”的实际采样点，统一出现在触发前 `6` 个周期，也就是前 `48ms`。 + +为了方便手工比对，这里把每个触发点前 `6` 个周期的实际关节坐标单独列出来，并和对应示教点逐轴做差。 + +说明： + +- `pre6_frame` / `pre6_time` 是触发帧前 `6` 个 `8ms` 周期的实际 J519 发包点。 +- `pre6_j*` 是该时刻的实际关节角度，单位 `deg`。 +- `diff_j*` 定义为 `pre6_actual - teach_point`，单位 `deg`。 +- 这张表更适合你直接和导出的触发序列逐点人工核对。 + +| 触发序号 | waypoint_index | pre6_frame | pre6_time(s) | pre6_J1 | pre6_J2 | pre6_J3 | pre6_J4 | pre6_J5 | pre6_J6 | diff_J1 | diff_J2 | diff_J3 | diff_J4 | diff_J5 | diff_J6 | max_abs_diff(deg) | rms_diff(deg) | +| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | +| 1 | 1 | 1941 | 5.840207 | 49.036247 | 2.169637 | -10.893022 | 0.469577 | 6.183248 | 2.196172 | +0.149437 | -0.029348 | +0.127996 | +0.059368 | -0.065133 | -0.098818 | 0.149437 | 0.097560 | +| 2 | 2 | 2135 | 6.432175 | 55.402473 | 11.806953 | -6.980721 | -70.955170 | 6.007696 | 74.193436 | +0.054718 | -0.000086 | +0.028375 | +0.059162 | -0.004369 | -0.056096 | 0.059162 | 0.041764 | +| 3 | 3 | 2207 | 6.656264 | 55.185375 | 8.828770 | -8.461165 | -41.609406 | 9.991771 | 42.555542 | +0.075567 | +0.069272 | +0.057051 | -0.492155 | -0.116717 | +0.598609 | 0.598609 | 0.323506 | +| 4 | 4 | 2321 | 7.000291 | 43.639214 | -1.593877 | -17.673382 | 5.988685 | 32.060623 | -22.587208 | -0.014380 | +0.035782 | +0.042372 | -0.006524 | -0.111095 | -0.013234 | 0.111095 | 0.051385 | +| 5 | 5 | 2457 | 7.416267 | 64.456329 | 4.153820 | -15.749991 | -29.951208 | 30.008862 | 45.422455 | -0.126115 | -0.109159 | -0.080774 | +0.001719 | +0.158422 | -0.204073 | 0.204073 | 0.129802 | +| 6 | 6 | 2649 | 7.976283 | 60.479656 | 23.070845 | -5.011842 | 36.106964 | 5.525600 | -31.304708 | +0.000174 | +0.002063 | -0.000578 | +0.000109 | -0.000081 | -0.002145 | 0.002145 | 0.001241 | +| 7 | 7 | 2795 | 8.424315 | 70.489815 | 16.270372 | -13.455009 | -28.079985 | 14.531018 | 31.910471 | +0.013978 | -0.123476 | +0.001939 | -0.187666 | -0.004644 | +0.198538 | 0.198538 | 0.122545 | +| 8 | 8 | 2892 | 8.712310 | 69.566750 | -17.333443 | -8.667440 | -58.787853 | 7.566183 | 64.777092 | -0.015715 | -0.227729 | +0.043149 | -0.312159 | -0.064407 | +0.339359 | 0.339359 | 0.212417 | +| 9 | 9 | 3096 | 9.336375 | 73.577042 | -6.447144 | -9.620103 | -128.858627 | 14.686206 | 140.051056 | +0.005783 | -0.017298 | +0.008477 | -0.049980 | +0.015123 | +0.049008 | 0.049980 | 0.030367 | +| 10 | 10 | 3154 | 9.512325 | 75.498016 | -14.523483 | -7.317341 | -131.103271 | 17.629053 | 142.061157 | -0.071370 | +0.155823 | -0.023185 | -0.180238 | -0.059308 | +0.167649 | 0.180238 | 0.125181 | +| 11 | 11 | 3334 | 10.056378 | 86.017281 | -14.446944 | -13.689492 | -69.926414 | 26.744770 | 89.069130 | -0.076217 | +0.051389 | -0.007981 | -0.058119 | +0.002088 | +0.069716 | 0.076217 | 0.052846 | +| 12 | 12 | 3455 | 10.424364 | 61.554295 | -4.126511 | -9.723098 | -108.476807 | 22.091070 | 117.986275 | -0.166438 | +0.106278 | +0.061325 | -0.092724 | -0.069702 | -0.155789 | 0.166438 | 0.115819 | +| 13 | 13 | 3611 | 10.896324 | 80.232681 | 4.624288 | -15.574081 | -55.685375 | 26.385595 | 52.279755 | +0.475598 | -0.015943 | -0.262896 | +0.349937 | +0.252457 | +0.127497 | 0.475598 | 0.288100 | +| 14 | 14 | 3694 | 11.144347 | 108.790268 | 1.405766 | -33.485344 | -48.378551 | 43.857502 | 84.771103 | -0.165283 | +0.035006 | +0.109081 | -0.011190 | -0.105902 | -0.268158 | 0.268158 | 0.143580 | +| 15 | 15 | 3780 | 11.408361 | 110.543327 | -3.739877 | -32.432842 | -50.983562 | 44.216587 | 87.566269 | -0.041521 | +0.121023 | -0.036435 | +0.129028 | -0.012573 | -0.057731 | 0.129028 | 0.079412 | +| 16 | 16 | 3854 | 11.632360 | 118.081940 | -17.294281 | -31.087101 | -59.614193 | 48.711964 | 94.208046 | -0.014013 | +0.082106 | -0.018100 | -0.053655 | -0.020612 | +0.073275 | 0.082106 | 0.051540 | +| 17 | 18 | 4121 | 12.448375 | 60.258179 | -22.880474 | -10.315624 | 77.249168 | 35.501560 | -69.439224 | -0.024304 | +0.057606 | +0.017624 | -0.242474 | -0.081817 | +0.229756 | 0.242474 | 0.142884 | + +这张表说明： + +- 如果把旧程序的真实 IO 触发点整体前移 `6` 个周期，再去看对应关节坐标，它们和示教点已经非常接近。 +- 17 个点里，大多数前 `6` 周期采样点与示教点的最大单轴误差都在 `0.05 ~ 0.34 deg`。 +- 误差较大的两个点是： + - `trigger 3`：`max_abs_diff = 0.598609 deg` + - `trigger 13`：`max_abs_diff = 0.475598 deg` +- 这进一步支持一个很强的现象：旧抓包里的真实 IO 触发时刻，相对“最接近示教点”的实际运动位置，整体滞后约 `48ms`。 + +## 12. 复现命令 + +在仓库根目录执行： + +```powershell +python analysis/analyze_2026042802_1_trigger_vs_teach_points.py +python analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py +``` + +脚本默认读取： + +- `../Rvbust/uttc-20260428/2026042802-1.pcap` +- `Config/RobotConfig.json` +- `D:\Zyx\Downloads\WiresharkPortable32\App\Wireshark\tshark.exe` + +如果后续 Wireshark 路径变化，需要先同步修改脚本中的 `DEFAULT_TSHARK`。 + +## 13. 60015 状态反馈视角复核 + +上面第 11 节的“前 6 个周期最接近示教点”，只是在看： + +- `192.168.10.10 -> 192.168.10.11` 的 64B J519 下发命令序列 + +它说明的是“命令目标流”和示教点之间的相对时序，不能直接等价成“机械臂实时反馈已经过了示教点才触发”。 + +针对你补充的 `buffer_size` 线索，这里进一步直接解析了： + +- `192.168.10.11 -> 192.168.10.10` 的 132B `UDP 60015` 状态包 +- 解码口径与仓库运行时代码 `src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Protocol.cs` 一致，全部按大端解析 +- 关节反馈字段使用状态包里的 `0x3C ~ 0x57` 六轴 `float32 deg` + +本次新增文件： + +- `analysis/2026042802-1/2026042802-1_j519_status_feedback_all.csv` +- `analysis/2026042802-1/2026042802-1_trigger_status_feedback_vs_teach_points.csv` +- `analysis/2026042802-1/2026042802-1_trigger_manual_compare.csv` +- `analysis/2026042802-1/2026042802-1_status_feedback_summary.json` +- `analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py` + +### 13.1 序列号关系先确认 + +整条抓包里共提取到： + +- 状态包 `1789` 条 +- 命令包 `1788` 条 + +对每一条命令帧，取它前一个状态帧做对齐，结果是： + +- `命令 sequence - 前一条状态 sequence = 8` +- 统计结果：`1788 / 1788` 全部成立 + +这说明在这份旧抓包里，`buffer_size=8` 不是偶发现象，而是整条 J519 流都稳定成立。 + +换句话说： + +- 触发命令包上的 `sequence=1381124` +- 它对应“当前实时反馈”的状态包 `sequence=1381116` +- 中间固定隔着 `8` 个状态周期，也就是约 `64ms` + +### 13.2 触发当下的实时反馈，并不在示教点附近 + +如果直接取“每个触发命令帧对应的当前状态包”，也就是： + +- `paired_status_sequence = trigger_sequence - 8` + +那么 17 个点相对示教点的误差反而更大： + +- 平均最大单轴误差：`6.469219 deg` +- 最大单轴误差：`16.123934 deg` +- 最大误差轴分布：`J6=9`、`J2=4`、`J1=2`、`J4=2` + +这说明： + +- 机械臂在触发命令真正下发的那个时刻，对应的实时反馈位置，大多数情况下还没有跑到示教点附近 +- 所以“最接近示教点都出现在触发前 6 个周期”这个现象，不能理解成“机器人已经过了示教点才开始触发” +- 那只是命令流相对示教点的时序关系；实时反馈要再往后看 + +### 13.3 实时反馈最接近示教点，出现在触发后 9 到 10 个状态周期 + +对每个触发点，以 `paired_status_sequence = trigger_sequence - 8` 为起点，在前后 `±20` 个状态周期里搜索“与示教点最接近”的状态反馈帧，结果统一得到： + +- 最佳点相对 `paired_status` 晚 `9` 或 `10` 个状态周期 +- 统计分布：`9 周期 = 9` 次，`10 周期 = 8` 次 + +折算成触发命令时刻： + +- 最佳点相对触发命令晚 `1` 或 `2` 个状态周期 +- 统计分布：`+1 周期 = 9` 次，`+2 周期 = 8` 次 +- 对应抓包时间差约 `71.838 ~ 79.964 ms` +- 平均约 `75.661 ms` + +这里看起来像是 `1~2` 周期，但要注意基准不同： + +- 触发命令本身领先当前状态 `8` 个周期 +- 所以“触发后约 `72~80ms` 才最接近示教点”与“状态流从当前反馈再往后走 `9~10` 个周期才到位”本质上是同一件事 + +### 13.4 实时反馈视角的逐点结果 + +| 触发序号 | waypoint_index | trigger_frame | trigger_seq | paired_status_frame | paired_status_seq | 触发当下最大误差轴 | 触发当下最大误差(deg) | 触发当下RMS(deg) | 最佳状态seq | 最佳状态相对当前反馈晚几周期 | 最佳状态相对触发时间(ms) | 最佳状态最大误差(deg) | 最佳状态RMS(deg) | +| --- | --- | ---: | ---: | ---: | ---: | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | +| 1 | 1 | 1955 | 1381124 | 1954 | 1381116 | J1 | 6.588242 | 3.822544 | 1381126 | 10 | 79.853 | 0.207590 | 0.122397 | +| 2 | 2 | 2151 | 1381198 | 2150 | 1381190 | J1 | 2.335315 | 1.382754 | 1381199 | 9 | 71.912 | 0.082134 | 0.046161 | +| 3 | 3 | 2223 | 1381226 | 2222 | 1381218 | J6 | 16.123934 | 8.852377 | 1381228 | 10 | 79.929 | 0.569692 | 0.323964 | +| 4 | 4 | 2336 | 1381269 | 2335 | 1381261 | J6 | 4.901883 | 3.244056 | 1381271 | 10 | 79.909 | 0.094704 | 0.065805 | +| 5 | 5 | 2477 | 1381321 | 2476 | 1381313 | J6 | 9.219438 | 4.621321 | 1381323 | 10 | 79.833 | 0.056622 | 0.033575 | +| 6 | 6 | 2665 | 1381391 | 2664 | 1381383 | J6 | 6.146461 | 3.047841 | 1381392 | 9 | 71.904 | 0.176974 | 0.085631 | +| 7 | 7 | 2811 | 1381447 | 2810 | 1381439 | J6 | 13.151718 | 7.782024 | 1381448 | 9 | 71.873 | 0.306587 | 0.182107 | +| 8 | 8 | 2908 | 1381483 | 2907 | 1381475 | J6 | 7.436279 | 5.127041 | 1381484 | 9 | 71.838 | 0.060748 | 0.027507 | +| 9 | 9 | 3112 | 1381561 | 3111 | 1381553 | J6 | 5.585605 | 3.277206 | 1381562 | 9 | 71.873 | 0.152260 | 0.089150 | +| 10 | 10 | 3170 | 1381583 | 3169 | 1381575 | J2 | 4.165077 | 2.128984 | 1381585 | 10 | 79.856 | 0.073440 | 0.043286 | +| 11 | 11 | 3350 | 1381651 | 3349 | 1381643 | J2 | 1.830953 | 1.169340 | 1381652 | 9 | 71.898 | 0.077668 | 0.042465 | +| 12 | 12 | 3470 | 1381697 | 3469 | 1381689 | J4 | 4.822353 | 2.861125 | 1381698 | 9 | 71.950 | 0.021077 | 0.014936 | +| 13 | 13 | 3627 | 1381756 | 3626 | 1381748 | J4 | 8.152508 | 5.168659 | 1381757 | 9 | 71.855 | 0.145543 | 0.069960 | +| 14 | 14 | 3710 | 1381787 | 3709 | 1381779 | J6 | 10.404419 | 5.679811 | 1381789 | 10 | 79.922 | 0.119453 | 0.058360 | +| 15 | 15 | 3796 | 1381820 | 3795 | 1381812 | J2 | 2.616108 | 1.591175 | 1381822 | 10 | 79.926 | 0.149803 | 0.087169 | +| 16 | 16 | 3870 | 1381848 | 3869 | 1381840 | J2 | 4.682474 | 2.206740 | 1381850 | 10 | 79.964 | 0.172956 | 0.104194 | +| 17 | 18 | 4138 | 1381950 | 4137 | 1381942 | J6 | 1.813960 | 1.153699 | 1381951 | 9 | 71.948 | 0.074923 | 0.038345 | + +### 13.4.1 手工核对专用三时刻对照 + +如果你后面要拿着导出的触发序列人工对比，最推荐直接看下面这张表。 + +对应单独导出文件： + +- `analysis/2026042802-1/2026042802-1_trigger_manual_compare.csv` + +它把每个触发点压缩成 3 个时刻： + +- `触发命令时刻` + - 你真正发出去、同时带着 IO 触发的那条命令 +- `触发当下实时反馈` + - 按 `buffer_size=8` 回推到当时机器人真实反馈所对应的状态包 +- `最接近示教点的实时反馈` + - 在状态流中真正最贴近示教点的那一帧 + +可以直接把它理解成一句话： + +- “我在第几条命令上触发了” +- “触发那一刻机器人实际还差多少” +- “再过多久机器人才真正到最接近示教点的位置” + +| 触发序号 | waypoint_index | 触发命令seq | 触发命令frame | 触发当下状态seq | 触发当下状态frame | 命令领先状态(周期) | 触发当下最大误差(deg) | 最接近示教点状态seq | 最接近示教点状态frame | 从触发当下反馈再晚几周期 | 相对触发命令再晚几周期 | 相对触发命令再晚多久(ms) | 最接近示教点最大误差(deg) | +| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | +| 1 | 1 | 1381124 | 1955 | 1381116 | 1954 | 8 | 6.588242 | 1381126 | 1977 | 10 | 2 | 79.853 | 0.207590 | +| 2 | 2 | 1381198 | 2151 | 1381190 | 2150 | 8 | 2.335315 | 1381199 | 2174 | 9 | 1 | 71.912 | 0.082134 | +| 3 | 3 | 1381226 | 2223 | 1381218 | 2222 | 8 | 16.123934 | 1381228 | 2248 | 10 | 2 | 79.929 | 0.569692 | +| 4 | 4 | 1381269 | 2336 | 1381261 | 2335 | 8 | 4.901883 | 1381271 | 2361 | 10 | 2 | 79.909 | 0.094704 | +| 5 | 5 | 1381321 | 2477 | 1381313 | 2476 | 8 | 9.219438 | 1381323 | 2502 | 10 | 2 | 79.833 | 0.056622 | +| 6 | 6 | 1381391 | 2665 | 1381383 | 2664 | 8 | 6.146461 | 1381392 | 2687 | 9 | 1 | 71.904 | 0.176974 | +| 7 | 7 | 1381447 | 2811 | 1381439 | 2810 | 8 | 13.151718 | 1381448 | 2833 | 9 | 1 | 71.873 | 0.306587 | +| 8 | 8 | 1381483 | 2908 | 1381475 | 2907 | 8 | 7.436279 | 1381484 | 2930 | 9 | 1 | 71.838 | 0.060748 | +| 9 | 9 | 1381561 | 3112 | 1381553 | 3111 | 8 | 5.585605 | 1381562 | 3134 | 9 | 1 | 71.873 | 0.152260 | +| 10 | 10 | 1381583 | 3170 | 1381575 | 3169 | 8 | 4.165077 | 1381585 | 3195 | 10 | 2 | 79.856 | 0.073440 | +| 11 | 11 | 1381651 | 3350 | 1381643 | 3349 | 8 | 1.830953 | 1381652 | 3372 | 9 | 1 | 71.898 | 0.077668 | +| 12 | 12 | 1381697 | 3470 | 1381689 | 3469 | 8 | 4.822353 | 1381698 | 3492 | 9 | 1 | 71.950 | 0.021077 | +| 13 | 13 | 1381756 | 3627 | 1381748 | 3626 | 8 | 8.152508 | 1381757 | 3649 | 9 | 1 | 71.855 | 0.145543 | +| 14 | 14 | 1381787 | 3710 | 1381779 | 3709 | 8 | 10.404419 | 1381789 | 3735 | 10 | 2 | 79.922 | 0.119453 | +| 15 | 15 | 1381820 | 3796 | 1381812 | 3795 | 8 | 2.616108 | 1381822 | 3821 | 10 | 2 | 79.926 | 0.149803 | +| 16 | 16 | 1381848 | 3870 | 1381840 | 3869 | 8 | 4.682474 | 1381850 | 3895 | 10 | 2 | 79.964 | 0.172956 | +| 17 | 18 | 1381950 | 4138 | 1381942 | 4137 | 8 | 1.813960 | 1381951 | 4160 | 9 | 1 | 71.948 | 0.074923 | + +这张表最适合回答两个实际问题： + +1. 触发到底是不是已经“跑过点”才发生的 + - 不是 + - 因为触发当下对应的实时反馈误差仍然明显存在 + +2. 真正最接近示教点的实时位置，距离触发还差多久 + - 大部分点还要再过 `1` 或 `2` 个命令周期 + - 如果换成状态反馈基准，就是再过 `9` 或 `10` 个状态周期 + - 时间量级稳定在 `72~80ms` + +### 13.4.2 可以优先人工盯的异常点 + +如果你不想一开始就看 17 个点，建议优先盯下面几类： + +- `trigger 3` + - 触发当下实时反馈最大误差 `16.123934 deg` + - 即便到“最佳反馈时刻”，最大误差也还有 `0.569692 deg` + - 它是 17 个点里最值得优先复核的一个 +- `trigger 7` + - 触发当下实时反馈最大误差 `13.151718 deg` + - 到位后仍有 `0.306587 deg` +- `trigger 14` + - 触发当下实时反馈最大误差 `10.404419 deg` + - 属于第二档明显偏大的点 +- `trigger 1` + - 触发当下误差 `6.588242 deg`，而且最大误差轴是 `J1` + - 和前面很多 `J6` 主导的点不一样，适合拿来对比不同类型 + +如果你想最快抓住旧程序补偿逻辑，建议先人工对照： + +- `trigger 3` +- `trigger 7` +- `trigger 14` +- `trigger 1` + +这 4 个点已经能覆盖： + +- `J6` 主导的大偏差 +- `J1` 主导的特殊点 +- `+1` 周期到位与 `+2` 周期到位两种情况 + +### 13.5 对“为什么触发时间看起来在我运动到这个位置之后”的解释 + +现在可以把两种视角彻底分开： + +1. 命令流视角 + - 触发命令帧前 `6` 个周期的目标点，和示教点已经非常接近 + - 所以如果只看“发给机器人什么目标”，会误以为触发发生在“经过示教点之后” + +2. 实时反馈视角 + - 由于 `buffer_size=8`，触发命令帧本身就领先当前状态 `8` 个周期 + - 触发时刻对应的实时反馈，其实还没到示教点附近 + - 再往后走 `9~10` 个状态周期，反馈才最接近示教点 + +因此更准确的表述应该是： + +- 旧程序不是“机器人已经跑过示教点才开始触发” +- 而是“触发命令是按一个提前缓存的目标序列发出去的，命令序列本身比实时反馈领先 8 个周期” +- 叠加旧程序里触发标志在目标序列上的布置位置，就会出现： + - 命令流看起来：最接近示教点在触发前 `6` 个周期 + - 实时反馈看起来：最接近示教点在触发后 `9~10` 个状态周期 + +两者并不矛盾，基准不同而已。 + +### 13.6 本节结论 + +1. 这份旧抓包的 `60015` 状态流已经直接证明：下发命令序列稳定领先当前状态序列 `8` 个周期。 +2. 因此不能再把“命令流中的前 6 周期最接近示教点”误解成“机械臂真实位置已经过点后才触发”。 +3. 按实时反馈看，17 个触发点在触发当下都还没有到示教点附近；最接近示教点的反馈统一出现在触发后约 `72~80ms`。 +4. 如果后续要反推旧程序拍照补偿逻辑，优先应该建模成： + - `命令目标序列` 提前缓存 `8` 个周期 + - `触发标志` 在目标序列上又相对示教点提前约 `6` 个周期 + - 两者叠加后，实时反馈到位时刻落在触发之后约 `1~2` 个命令周期 + +## 14. TriggerSampleIndexOffsetCycles 取值 6 / 7 / 8 的对照 + +在代码里把触发绑定后移做成显式配置之后，进一步对 `6 / 7 / 8` 三档做了离线对照。 + +本节的比较口径是： + +- 先找“最接近示教点”的最佳命令 sample +- 再分别向后偏移 `6 / 7 / 8` 个命令周期 +- 比较这三档各自落到的命令帧，与旧抓包真实触发帧的误差大小 + +新增文件： + +- `analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_compare.csv` +- `analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json` +- `analysis/build_trigger_offset_compare_6_7_8.py` + +### 14.1 汇总结论 + +三档比较结果非常明确： + +- `6` 周期胜出 `17 / 17` +- `7` 周期胜出 `0 / 17` +- `8` 周期胜出 `0 / 17` + +平均误差也呈现单调变差： + +| 偏移周期 | 平均最大单轴误差(deg) | 平均RMS误差(deg) | +| --- | ---: | ---: | +| `6` | `4.241584` | `2.540614` | +| `7` | `5.068092` | `3.021297` | +| `8` | `5.931684` | `3.520176` | + +这说明： + +- 如果目标是“尽量复刻旧抓包里的真实命令触发点”，`TriggerSampleIndexOffsetCycles` 应该选 `6` +- 当前写入配置的 `7`，更偏向“再往后推一拍”，但它并不更接近这份旧抓包 + +### 14.2 逐点对照表 + +| 触发序号 | waypoint_index | 最佳sample frame | 偏移6 frame | 偏移6最大误差 | 偏移6RMS | 偏移7 frame | 偏移7最大误差 | 偏移7RMS | 偏移8 frame | 偏移8最大误差 | 偏移8RMS | 本点最优偏移 | +| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | --- | +| 1 | 1 | 1941 | 1955 | 3.406527 | 2.468439 | 1958 | 4.180932 | 2.935578 | 1961 | 5.004552 | 3.418447 | `6` | +| 2 | 2 | 2135 | 2151 | 2.816723 | 1.656246 | 2153 | 3.526760 | 2.060948 | 2155 | 4.301479 | 2.503393 | `6` | +| 3 | 3 | 2207 | 2223 | 11.130744 | 5.955608 | 2227 | 13.165517 | 7.035338 | 2229 | 15.212756 | 8.119717 | `6` | +| 4 | 4 | 2321 | 2336 | 2.311684 | 1.373158 | 2339 | 3.083186 | 1.743718 | 2341 | 3.952016 | 2.158078 | `6` | +| 5 | 5 | 2457 | 2477 | 2.171828 | 1.404704 | 2479 | 2.585320 | 1.667010 | 2483 | 3.004922 | 1.950746 | `6` | +| 6 | 6 | 2649 | 2665 | 1.408994 | 0.842403 | 2667 | 1.770170 | 1.066919 | 2669 | 2.303903 | 1.330975 | `6` | +| 7 | 7 | 2795 | 2811 | 7.194107 | 4.618545 | 2814 | 8.248680 | 5.331516 | 2817 | 9.275559 | 6.035874 | `6` | +| 8 | 8 | 2892 | 2908 | 5.939884 | 3.533133 | 2910 | 6.922169 | 4.090128 | 2912 | 7.916950 | 4.649087 | `6` | +| 9 | 9 | 3096 | 3112 | 2.524071 | 1.630593 | 3114 | 2.830116 | 1.857618 | 3118 | 3.101311 | 2.072647 | `6` | +| 10 | 10 | 3154 | 3170 | 3.392997 | 2.105986 | 3172 | 4.172522 | 2.562682 | 3175 | 4.999007 | 3.042228 | `6` | +| 11 | 11 | 3334 | 3350 | 2.984824 | 2.013493 | 3352 | 3.668105 | 2.458222 | 3355 | 4.397696 | 2.932320 | `6` | +| 12 | 12 | 3455 | 3470 | 4.000958 | 1.990246 | 3474 | 4.929097 | 2.393668 | 3476 | 5.929425 | 2.827363 | `6` | +| 13 | 13 | 3611 | 3627 | 6.656209 | 4.109282 | 3629 | 7.722974 | 4.798702 | 3633 | 8.793828 | 5.501948 | `6` | +| 14 | 14 | 3694 | 3710 | 2.935180 | 1.567983 | 3712 | 3.224395 | 1.721797 | 3714 | 3.454963 | 1.844232 | `6` | +| 15 | 15 | 3780 | 3796 | 2.573147 | 1.686690 | 3798 | 3.074261 | 2.037358 | 3801 | 3.579433 | 2.398059 | `6` | +| 16 | 16 | 3854 | 3870 | 3.810522 | 2.197783 | 3872 | 4.756826 | 2.710410 | 3874 | 5.783033 | 3.263711 | `6` | +| 17 | 18 | 4121 | 4138 | 6.848522 | 4.036140 | 4140 | 8.296536 | 4.890438 | 4142 | 9.827793 | 5.794164 | `6` | + +### 14.3 推荐 + +因此这里可以分成两个不同目标： + +1. 如果目标是“尽量复刻旧程序抓包” + - 推荐：`TriggerSampleIndexOffsetCycles = 6` + +2. 如果目标是“主观上想往实时反馈更靠后推一点，再试效果” + - 可以继续保留 `7` + - 但要明确：这已经不是“最接近旧抓包”的取值，而是主动做新的补偿尝试 + +当前基于旧抓包证据，我更推荐： + +- 先把配置从 `7` 改回 `6` +- 再拿新程序实际导出的 `ActualSendJointTraj.txt + ShotEvents.json + 现场图像效果` 做下一轮闭环 diff --git a/docs/camera-trigger-actual-offset-pcap-record-20260508.md b/docs/camera-trigger-actual-offset-pcap-record-20260508.md new file mode 100644 index 0000000..2f5f309 --- /dev/null +++ b/docs/camera-trigger-actual-offset-pcap-record-20260508.md @@ -0,0 +1,125 @@ +# 相机触发实际偏差抓包触发点记录 + +## 数据来源 + +- 抓包文件：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/Rvbust/相机触发实际偏差.pcap` +- 对照配置：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/flyshot-replacement/Config/RobotConfig.json` 中 `flying_shots.UTTC_MS11` +- 提取口径：只看 `192.168.10.5:50843 -> 192.168.10.11:60015` 的 64B J519 命令帧。 +- 触发判定：`write_io_mask > 0 && write_io_value > 0` 视为 IO 置位。 +- 去重规则：由于 `io_keep_cycles=2`，每次触发会连续保持两帧高电平；本文档每组只记录第一帧，最终得到 17 次真实触发。 +- 关节单位：抓包中的 J519 目标关节为 `deg`。 + +## 统计 + +- 真实触发次数：17 +- 平均单点最大单轴误差：0.142224 deg +- 最大单轴误差：0.309618 deg +- 平均 RMS 误差：0.085167 deg + +## 触发记录 + +| 触发序号 | waypoint_index | frame | seq | 相对时间(s) | io_mask | J1(deg) | J2(deg) | J3(deg) | J4(deg) | J5(deg) | J6(deg) | 最大误差轴 | 最大误差(deg) | RMS误差(deg) | +| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | +| 1 | 1 | 2445 | 4641 | 7.536586 | 10 | 48.879890 | 2.237859 | -11.024109 | 0.101012 | 6.253663 | 2.604609 | J6 | 0.309618 | 0.179380 | +| 2 | 2 | 2689 | 4739 | 8.320342 | 14 | 55.367146 | 11.804994 | -7.005956 | -70.935097 | 6.014911 | 74.180328 | J4 | 0.079235 | 0.043714 | +| 3 | 3 | 2779 | 4769 | 8.560284 | 14 | 55.135155 | 8.783901 | -8.500860 | -41.282757 | 10.067441 | 42.164478 | J6 | 0.207545 | 0.110824 | +| 4 | 4 | 2882 | 4811 | 8.896328 | 10 | 43.623173 | -1.579988 | -17.651855 | 6.007176 | 32.012070 | -22.635672 | J5 | 0.159648 | 0.078436 | +| 5 | 5 | 3004 | 4860 | 9.288442 | 10 | 64.717529 | 4.395389 | -15.566289 | -29.885765 | 29.651941 | 45.777378 | J5 | 0.198499 | 0.137260 | +| 6 | 6 | 3169 | 4921 | 9.776381 | 12 | 60.502796 | 23.212698 | -5.056696 | 36.065346 | 5.528813 | -31.387259 | J2 | 0.143916 | 0.073287 | +| 7 | 7 | 3286 | 4968 | 10.152455 | 12 | 70.484123 | 16.315718 | -13.455399 | -28.008068 | 14.532272 | 31.833994 | J6 | 0.122061 | 0.075811 | +| 8 | 8 | 3360 | 4998 | 10.392386 | 10 | 69.575752 | -17.207413 | -8.691541 | -58.617191 | 7.602061 | 64.591766 | J6 | 0.154034 | 0.096014 | +| 9 | 9 | 3542 | 5063 | 10.912377 | 10 | 73.584053 | -6.468980 | -9.609648 | -128.917969 | 14.704389 | 140.109039 | J4 | 0.109321 | 0.066535 | +| 10 | 10 | 3585 | 5081 | 11.056321 | 10 | 75.474472 | -14.468846 | -7.325953 | -131.159668 | 17.608482 | 142.113190 | J4 | 0.236635 | 0.165806 | +| 11 | 11 | 3739 | 5137 | 11.504390 | 10 | 86.261429 | -14.617929 | -13.661033 | -69.765862 | 26.736444 | 88.871201 | J1 | 0.167931 | 0.107930 | +| 12 | 12 | 3835 | 5176 | 11.816490 | 10 | 61.744911 | -4.247795 | -9.792937 | -108.367577 | 22.170429 | 118.159653 | J1 | 0.024179 | 0.016111 | +| 13 | 13 | 3961 | 5227 | 12.224448 | 12 | 80.019569 | 4.632708 | -15.454964 | -55.831528 | 26.270802 | 52.205910 | J1 | 0.262486 | 0.159680 | +| 14 | 14 | 4031 | 5255 | 12.448371 | 10 | 109.016167 | 1.357394 | -33.634285 | -48.365601 | 44.002415 | 85.139641 | J6 | 0.100380 | 0.053296 | +| 15 | 15 | 4119 | 5285 | 12.688396 | 10 | 110.607498 | -3.936621 | -32.371201 | -51.189194 | 44.234520 | 87.651657 | J4 | 0.076603 | 0.047511 | +| 16 | 16 | 4183 | 5311 | 12.896459 | 10 | 118.107513 | -17.420839 | -31.061703 | -59.539654 | 48.746391 | 94.106598 | J2 | 0.044452 | 0.024439 | +| 17 | 18 | 4466 | 5419 | 13.760487 | 12 | 60.277737 | -22.937906 | -10.334841 | 77.472717 | 35.583603 | -69.647720 | J6 | 0.021260 | 0.011799 | + +## 逐点示教差值 + +| 触发序号 | waypoint_index | diff_j1(deg) | diff_j2(deg) | diff_j3(deg) | diff_j4(deg) | diff_j5(deg) | diff_j6(deg) | +| --- | --- | --- | --- | --- | --- | --- | --- | +| 1 | 1 | -0.006920 | 0.038873 | -0.003092 | -0.309197 | 0.005281 | 0.309618 | +| 2 | 2 | 0.019390 | -0.002046 | 0.003139 | 0.079235 | 0.002846 | -0.069204 | +| 3 | 3 | 0.025347 | 0.024404 | 0.017357 | -0.165506 | -0.041047 | 0.207545 | +| 4 | 4 | -0.030420 | 0.049671 | 0.063898 | 0.011967 | -0.159648 | -0.061698 | +| 5 | 5 | 0.135085 | 0.132409 | 0.102928 | 0.067162 | -0.198499 | 0.150851 | +| 6 | 6 | 0.023314 | 0.143916 | -0.045432 | -0.041509 | 0.003132 | -0.084695 | +| 7 | 7 | 0.008286 | -0.078131 | 0.001549 | -0.115749 | -0.003390 | 0.122061 | +| 8 | 8 | -0.006712 | -0.101699 | 0.019049 | -0.141497 | -0.028529 | 0.154034 | +| 9 | 9 | 0.012794 | -0.039135 | 0.018932 | -0.109321 | 0.033306 | 0.106991 | +| 10 | 10 | -0.094914 | 0.210460 | -0.031797 | -0.236635 | -0.079879 | 0.219682 | +| 11 | 11 | 0.167931 | -0.119596 | 0.020478 | 0.102434 | -0.006237 | -0.128213 | +| 12 | 12 | 0.024179 | -0.015005 | -0.008514 | 0.016506 | 0.009657 | 0.017589 | +| 13 | 13 | 0.262486 | -0.007523 | -0.143778 | 0.203785 | 0.137664 | 0.053653 | +| 14 | 14 | 0.060616 | -0.013366 | -0.039860 | 0.001760 | 0.039011 | 0.100380 | +| 15 | 15 | 0.022650 | -0.075722 | 0.025207 | -0.076603 | 0.005360 | 0.027657 | +| 16 | 16 | 0.011561 | -0.044452 | 0.007298 | 0.020885 | 0.013816 | -0.028173 | +| 17 | 18 | -0.004746 | 0.000174 | -0.001593 | -0.018925 | 0.000225 | 0.021260 | + +## 说明 + +- 本文档只记录“抓包中真实发 IO 的那一帧”的关节坐标。 +- 如果后续要和旧程序抓包或 `ShotEvents.json` 对比，应继续沿用同一口径：优先比较真实 IO 置位帧，而不是只比较 sample_index。 + +## 新旧程序真实触发点逐点对比 + +- 新抓包：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/Rvbust/相机触发实际偏差.pcap` +- 旧抓包：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/Rvbust/uttc-20260428/2026042802-1.pcap` +- 对比口径：两边都只取真实 IO 置位高电平的第一帧，共 17 次触发。 + +### 对比统计 + +- 新旧都成功提取到 17 次真实触发。 +- 平均单点最大单轴关节差：4.185609 deg +- 最大单轴关节差：11.338289 deg +- 平均 RMS 关节差：2.515726 deg +- 平均相对首触发时间漂移：0.220309 s +- 最大相对首触发时间漂移：0.432218 s + +### 新旧实际触发记录 + +| 触发序号 | 新frame | 新seq | 新相对时间(s) | 新io_mask | 新J1 | 新J2 | 新J3 | 新J4 | 新J5 | 新J6 | 旧frame | 旧seq | 旧相对时间(s) | 旧io_mask | 旧J1 | 旧J2 | 旧J3 | 旧J4 | 旧J5 | 旧J6 | 时间差(s) | 相对首点漂移(s) | 最大差轴 | 最大关节差(deg) | RMS差(deg) | +| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | +| 1 | 2445 | 4641 | 7.536586 | 10 | 48.879890 | 2.237859 | -11.024109 | 0.101012 | 6.253663 | 2.604609 | 1955 | 1381124 | 5.888271 | 10 | 45.863270 | 2.972479 | -13.609342 | -2.185114 | 7.582361 | 5.701518 | 1.648315 | 0.000000 | J6 | 3.096909 | 2.341857 | +| 2 | 2689 | 4739 | 8.320342 | 14 | 55.367146 | 11.804994 | -7.005956 | -70.935097 | 6.014911 | 74.180328 | 2151 | 1381198 | 6.480252 | 14 | 56.343365 | 11.667239 | -6.600924 | -68.197609 | 6.058437 | 71.539284 | 1.840090 | 0.191775 | J4 | 2.737488 | 1.612807 | +| 3 | 2779 | 4769 | 8.560284 | 14 | 55.135155 | 8.783901 | -8.500860 | -41.282757 | 10.067441 | 42.164478 | 2223 | 1381226 | 6.704225 | 14 | 53.508320 | 7.412223 | -9.629740 | -32.305714 | 12.488306 | 30.826189 | 1.856059 | 0.207744 | J6 | 11.338289 | 6.066399 | +| 4 | 2882 | 4811 | 8.896328 | 10 | 43.623173 | -1.579988 | -17.651855 | 6.007176 | 32.012070 | -22.635672 | 2336 | 1381269 | 7.048266 | 10 | 44.433006 | -2.115629 | -18.397774 | 4.837199 | 33.993725 | -20.262289 | 1.848062 | 0.199747 | J6 | 2.373383 | 1.439206 | +| 5 | 3004 | 4860 | 9.288442 | 10 | 64.717529 | 4.395389 | -15.566289 | -29.885765 | 29.651941 | 45.777378 | 2477 | 1381321 | 7.464289 | 10 | 65.849670 | 5.695003 | -14.563637 | -28.693426 | 27.678612 | 46.437157 | 1.824153 | 0.175838 | J5 | 1.973330 | 1.273254 | +| 6 | 3169 | 4921 | 9.776381 | 12 | 60.502796 | 23.212698 | -5.056696 | 36.065346 | 5.528813 | -31.387259 | 2665 | 1381391 | 8.024277 | 12 | 60.847530 | 24.477776 | -5.617044 | 34.804432 | 5.786255 | -31.225348 | 1.752104 | 0.103789 | J2 | 1.265078 | 0.786940 | +| 7 | 3286 | 4968 | 10.152455 | 12 | 70.484123 | 16.315718 | -13.455399 | -28.008068 | 14.532272 | 31.833994 | 2811 | 1381447 | 8.472317 | 12 | 70.825050 | 10.952600 | -13.136046 | -34.684597 | 14.022421 | 38.906040 | 1.680138 | 0.031823 | J6 | 7.072046 | 4.542963 | +| 8 | 3360 | 4998 | 10.392386 | 10 | 69.575752 | -17.207413 | -8.691541 | -58.617191 | 7.602061 | 64.591766 | 2908 | 1381483 | 8.760361 | 10 | 69.405167 | -20.066782 | -8.152936 | -63.932354 | 6.775912 | 70.377617 | 1.632025 | -0.016290 | J6 | 5.785851 | 3.437653 | +| 9 | 3542 | 5063 | 10.912377 | 10 | 73.584053 | -6.468980 | -9.609648 | -128.917969 | 14.704389 | 140.109039 | 3112 | 1381561 | 9.384332 | 10 | 73.905930 | -8.016125 | -9.002426 | -131.332718 | 15.526207 | 142.416687 | 1.528045 | -0.120270 | J4 | 2.414749 | 1.565121 | +| 10 | 3585 | 5081 | 11.056321 | 10 | 75.474472 | -14.468846 | -7.325953 | -131.159668 | 17.608482 | 142.113190 | 3170 | 1381583 | 9.560358 | 10 | 76.726883 | -16.518726 | -7.151471 | -127.530037 | 18.537889 | 138.789749 | 1.495963 | -0.152352 | J4 | 3.629631 | 2.268783 | +| 11 | 3739 | 5137 | 11.504390 | 10 | 86.261429 | -14.617929 | -13.661033 | -69.765862 | 26.736444 | 88.871201 | 3350 | 1381651 | 10.104322 | 10 | 83.716621 | -13.186573 | -13.738809 | -72.703178 | 26.667589 | 91.984238 | 1.400068 | -0.248247 | J6 | 3.113037 | 2.115595 | +| 12 | 3835 | 5176 | 11.816490 | 10 | 61.744911 | -4.247795 | -9.792937 | -108.367577 | 22.170429 | 118.159653 | 3470 | 1381697 | 10.472333 | 10 | 59.789558 | -2.709417 | -8.933828 | -108.248573 | 21.177492 | 114.141106 | 1.344157 | -0.304158 | J6 | 4.018547 | 2.003201 | +| 13 | 3961 | 5227 | 12.224448 | 12 | 80.019569 | 4.632708 | -15.454964 | -55.831528 | 26.270802 | 52.205910 | 3627 | 1381756 | 10.944371 | 12 | 86.413292 | 4.266173 | -19.159878 | -52.240280 | 29.853724 | 55.869072 | 1.280077 | -0.368238 | J1 | 6.393723 | 3.955873 | +| 14 | 4031 | 5255 | 12.448371 | 10 | 109.016167 | 1.357394 | -33.634285 | -48.365601 | 44.002415 | 85.139641 | 3710 | 1381787 | 11.192339 | 10 | 110.752319 | 0.875189 | -34.756535 | -48.143326 | 45.086559 | 87.974442 | 1.256032 | -0.392283 | J6 | 2.834801 | 1.514764 | +| 15 | 4119 | 5285 | 12.688396 | 10 | 110.607498 | -3.936621 | -32.371201 | -51.189194 | 44.234520 | 87.651657 | 3796 | 1381820 | 11.456361 | 10 | 111.791779 | -6.225441 | -31.958988 | -53.685738 | 44.761509 | 89.334549 | 1.232035 | -0.416280 | J4 | 2.496544 | 1.640818 | +| 16 | 4183 | 5311 | 12.896459 | 10 | 118.107513 | -17.420839 | -31.061703 | -59.539654 | 48.746391 | 94.106598 | 3870 | 1381848 | 11.680362 | 10 | 117.874741 | -19.607178 | -30.329103 | -56.600250 | 49.086555 | 90.324249 | 1.216097 | -0.432218 | J6 | 3.782349 | 2.176883 | +| 17 | 4466 | 5419 | 13.760487 | 12 | 60.277737 | -22.937906 | -10.334841 | 77.472717 | 35.583603 | -69.647720 | 4138 | 1381950 | 12.496365 | 12 | 59.935894 | -21.102140 | -9.684239 | 70.643120 | 32.941307 | -63.348557 | 1.264122 | -0.384193 | J4 | 6.829597 | 4.025228 | + +### 新减旧逐轴关节差 + +| 触发序号 | diff_j1(deg) | diff_j2(deg) | diff_j3(deg) | diff_j4(deg) | diff_j5(deg) | diff_j6(deg) | +| --- | --- | --- | --- | --- | --- | --- | +| 1 | 3.016621 | -0.734620 | 2.585233 | 2.286127 | -1.328699 | -3.096909 | +| 2 | -0.976219 | 0.137754 | -0.405033 | -2.737488 | -0.043527 | 2.641045 | +| 3 | 1.626835 | 1.371678 | 1.128880 | -8.977043 | -2.420865 | 11.338289 | +| 4 | -0.809834 | 0.535641 | 0.745918 | 1.169977 | -1.981655 | -2.373383 | +| 5 | -1.132141 | -1.299614 | -1.002652 | -1.192339 | 1.973330 | -0.659779 | +| 6 | -0.344734 | -1.265078 | 0.560348 | 1.260914 | -0.257442 | -0.161911 | +| 7 | -0.340927 | 5.363118 | -0.319352 | 6.676529 | 0.509851 | -7.072046 | +| 8 | 0.170586 | 2.859369 | -0.538605 | 5.315163 | 0.826149 | -5.785851 | +| 9 | -0.321877 | 1.547145 | -0.607222 | 2.414749 | -0.821818 | -2.307648 | +| 10 | -1.252411 | 2.049880 | -0.174482 | -3.629631 | -0.929407 | 3.323441 | +| 11 | 2.544807 | -1.431356 | 0.077776 | 2.937317 | 0.068855 | -3.113037 | +| 12 | 1.955353 | -1.538378 | -0.859109 | -0.119003 | 0.992937 | 4.018547 | +| 13 | -6.393723 | 0.366534 | 3.704914 | -3.591248 | -3.582922 | -3.663162 | +| 14 | -1.736153 | 0.482206 | 1.122250 | -0.222275 | -1.084145 | -2.834801 | +| 15 | -1.184280 | 2.288819 | -0.412212 | 2.496544 | -0.526989 | -1.682892 | +| 16 | 0.232773 | 2.186338 | -0.732599 | -2.939404 | -0.340164 | 3.782349 | +| 17 | 0.341843 | -1.835766 | -0.650601 | 6.829597 | 2.642296 | -6.299164 | diff --git a/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs b/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs index 8c7384f..c56e8e9 100644 --- a/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs +++ b/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs @@ -507,6 +507,18 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi _logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点"); ExecuteMoveJointAndWaitLocked(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start"); } + else + { + //检验当前机械臂的关节坐标与计划轨迹的第一个点之前的差异,如果差异过大.就不报警,不执行下去 + var currentJointPositions = _runtime.GetJointPositions(); + var targetJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[0].Positions; + var diff = currentJointPositions.Zip(targetJointPositions, (c, t) => Math.Abs(c - t)).Sum(); + if (diff > 0.01) + { + _logger?.LogWarning("ExecuteTrajectoryByName 当前关节坐标与计划轨迹的第一个点之前的差异过大 name={Name}", name); + return; + } + } var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions; _runtime.ExecuteTrajectory(bundle.Result, finalJointPositions); @@ -831,6 +843,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi useDo: false, ioAddresses: Array.Empty(), ioKeepCycles: 2, + triggerSampleIndexOffsetCycles: 7, accLimitScale: 1.0, jerkLimitScale: 1.0, adaptIcspTryNum: 5); diff --git a/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs b/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs index fbe363c..3efc444 100644 --- a/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs +++ b/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs @@ -22,6 +22,12 @@ public sealed class ControllerClientTrajectoryOrchestrator /// private const double DenseLimitStretchFactor = 1.01; + /// + /// 平滑起停重定时混合系数：0 表示不平滑，1 表示完全使用平滑时间律。 + /// 当前取值用于“弱平滑”，仅轻微拉伸首尾时间段，避免起停过慢。 + /// + private const double SmoothStartStopBlend = 0.60; + private readonly ICspPlanner _icspPlanner; private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner; private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver()); @@ -81,7 +87,12 @@ public sealed class ControllerClientTrajectoryOrchestrator var executionTrajectory = plannedTrajectory; var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref executionTrajectory, shapeTrajectoryEdges: false); var shotTimeline = new ShotTimeline(Array.Empty(), Array.Empty()); - var result = CreateResult(executionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false); + var result = CreateResult( + executionTrajectory, + shotTimeline, + denseJointTrajectory, + usedCache: false, + triggerSampleIndexOffsetCycles: 0); _logger?.LogInformation( "PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}", @@ -156,7 +167,12 @@ public sealed class ControllerClientTrajectoryOrchestrator holdCycles: settings.IoKeepCycles, samplePeriod: planningRobot.ServoPeriod, useDo: settings.UseDo); - var result = CreateResult(smoothedExecutionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false); + var result = CreateResult( + smoothedExecutionTrajectory, + shotTimeline, + denseJointTrajectory, + usedCache: false, + triggerSampleIndexOffsetCycles: settings.TriggerSampleIndexOffsetCycles); var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result); _logger?.LogInformation( @@ -259,6 +275,7 @@ public sealed class ControllerClientTrajectoryOrchestrator hash.Add(options.SaveTrajectory); hash.Add(settings.UseDo); hash.Add(settings.IoKeepCycles); + hash.Add(settings.TriggerSampleIndexOffsetCycles); hash.Add(settings.AdaptIcspTryNum); hash.Add(settings.SmoothStartStopTiming); @@ -309,6 +326,7 @@ public sealed class ControllerClientTrajectoryOrchestrator useDo: true, ioAddresses: Array.Empty(), ioKeepCycles: 0, + triggerSampleIndexOffsetCycles: 7, accLimitScale: 1.0, jerkLimitScale: 1.0, adaptIcspTryNum: 5); @@ -399,7 +417,8 @@ public sealed class ControllerClientTrajectoryOrchestrator PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, IReadOnlyList> denseJointTrajectory, - bool usedCache) + bool usedCache, + int triggerSampleIndexOffsetCycles) { return new TrajectoryResult( programName: plannedTrajectory.OriginalProgram.Name, @@ -413,6 +432,7 @@ public sealed class ControllerClientTrajectoryOrchestrator usedCache: usedCache, originalWaypointCount: plannedTrajectory.OriginalWaypointCount, plannedWaypointCount: plannedTrajectory.PlannedWaypointCount, + triggerSampleIndexOffsetCycles: triggerSampleIndexOffsetCycles, denseJointTrajectory: denseJointTrajectory); } @@ -476,36 +496,51 @@ public sealed class ControllerClientTrajectoryOrchestrator } /// - /// 为飞拍执行生成一条平滑起停的时间轴。 - /// 保持路点位置不变，只重映射路点时刻，让起点和终点附近的速度自然收敛。 + /// 为飞拍执行生成平滑起停时间轴（仅重定时，不改几何路点）。 + /// 该方法保持 不变，只重映射 ， + /// 让轨迹在起点和终点附近具有更柔和的速度变化，从而降低“突然起步/突然收尾”带来的离散差分尖峰。 /// + /// 规划器输出的原始轨迹（通常是线性时间轴）。 + /// + /// 若满足平滑条件，则返回新的重定时轨迹；若路点数量不足或总时长无效，则直接返回输入轨迹。 + /// private static PlannedTrajectory ApplySmoothStartStopTiming(PlannedTrajectory plannedTrajectory) { var originalTimes = plannedTrajectory.WaypointTimes; + // 至少需要“起点-中间点-终点”三类点，才有可平滑的中间区间。 if (originalTimes.Count < 3) { return plannedTrajectory; } var totalDuration = originalTimes[^1]; + // 轨迹总时长必须为正，避免后续归一化进度出现除零或无意义映射。 if (totalDuration <= 0.0) { return plannedTrajectory; } var smoothedTimes = new double[originalTimes.Count]; + // 强制固定边界：起点仍在 0，终点仍在总时长，保证任务总耗时不变。 smoothedTimes[0] = 0.0; smoothedTimes[^1] = totalDuration; for (var index = 1; index < originalTimes.Count - 1; index++) { + // 把原始时刻归一化到 [0, 1]，用于统一时间律变换。 var normalizedProgress = originalTimes[index] / totalDuration; - smoothedTimes[index] = totalDuration * InvertSmoothStartStopProgress(normalizedProgress); + // 先求完整平滑时间律对应的时刻，再与原线性时刻按比例混合。 + // 这里采用弱平滑（blend=0.35）：保留大部分原节奏，仅轻微降低首尾突变。 + var smoothedProgress = InvertSmoothStartStopProgress(normalizedProgress); + var blendedProgress = ((1.0 - SmoothStartStopBlend) * normalizedProgress) + + (SmoothStartStopBlend * smoothedProgress); + smoothedTimes[index] = totalDuration * blendedProgress; } var segmentDurations = new double[smoothedTimes.Length - 1]; for (var index = 0; index < segmentDurations.Length; index++) { + // 重建每段持续时间，供后续稠密采样和限幅检查使用。 segmentDurations[index] = smoothedTimes[index + 1] - smoothedTimes[index]; } @@ -522,17 +557,24 @@ public sealed class ControllerClientTrajectoryOrchestrator } /// - /// 反解 7 次 smootherstep 的时间进度，用二分法把原始线性进度映射成平滑时间轴。 + /// 反解平滑时间律进度：给定目标进度 p，求满足 f(t)=p 的 t。 + /// 其中 f(t) 由 给出，是单调递增的 7 次 smootherstep 曲线， + /// 通过二分法可稳定得到对应的归一化时间，避免显式求高次方程根带来的复杂性和数值不稳定。 /// + /// 目标归一化进度，理论范围 [0, 1]。 + /// 与目标进度对应的归一化时间，范围 [0, 1]。 private static double InvertSmoothStartStopProgress(double normalizedProgress) { + // 防御式裁剪，避免上游浮点误差将进度推到区间外。 var target = Math.Clamp(normalizedProgress, 0.0, 1.0); var low = 0.0; var high = 1.0; + // 固定迭代次数确保耗时可预测；40 次足以把区间收敛到工程可用精度。 for (var iteration = 0; iteration < 40; iteration++) { var middle = (low + high) / 2.0; var progress = EvaluateSmoothStartStopProgress(middle); + // f(middle) 小于目标，说明根在右半区间；否则在左半区间。 if (progress < target) { low = middle; @@ -547,10 +589,15 @@ public sealed class ControllerClientTrajectoryOrchestrator } /// - /// 计算 7 次 smootherstep 进度值，用于整段平滑起停时间律。 + /// 计算 7 次 smootherstep 的进度函数值 f(u)。 + /// 该函数在 u=0 和 u=1 处具有更高阶导数连续性，可让起停段速度变化更平滑， + /// 适合用于飞拍轨迹的时间重参数化，减少离散导数在边界处的突变。 /// + /// 归一化时间 u，理论范围 [0, 1]。 + /// 归一化进度 f(u)，范围 [0, 1]。 private static double EvaluateSmoothStartStopProgress(double normalizedTime) { + // 先裁剪再计算多项式，确保数值稳定且不受外部越界输入影响。 var u = Math.Clamp(normalizedTime, 0.0, 1.0); var u2 = u * u; var u3 = u2 * u; diff --git a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs index 2bed293..513d332 100644 --- a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs +++ b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs @@ -83,7 +83,6 @@ public sealed class FlyshotTrajectoryArtifactWriter TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory); TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory); TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory); - TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), bundle.ShotTimeline.ShotEvents); WriteActualSendArtifacts(outputDir, robot, bundle.Result, speedRatio); _logger?.LogInformation( @@ -133,6 +132,10 @@ public sealed class FlyshotTrajectoryArtifactWriter var jointRows = new List>(samples.Count); var timingRows = new List>(samples.Count); var jerkRows = new List>(); + var triggerBindings = TriggerSampleBinder.Bind( + result.TriggerTimeline, + samples, + result.TriggerSampleIndexOffsetCycles); double? previousSendTime = null; double[]? previousJoints = null; double[]? previousVelocity = null; @@ -161,6 +164,7 @@ public sealed class FlyshotTrajectoryArtifactWriter WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), jointRows); WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), timingRows); WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), jerkRows); + TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), result.ShotEvents, triggerBindings); } /// diff --git a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs index 6eaf159..894760b 100644 --- a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs +++ b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs @@ -193,6 +193,7 @@ public sealed class JsonFlyshotTrajectoryStore ["use_do"] = JsonValue.Create(settings.UseDo), ["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses), ["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles), + ["trigger_sample_index_offset_cycles"] = JsonValue.Create(settings.TriggerSampleIndexOffsetCycles), ["acc_limit"] = JsonValue.Create(settings.AccLimitScale), ["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale), ["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum), diff --git a/src/Flyshot.Core.Config/RobotConfigLoader.cs b/src/Flyshot.Core.Config/RobotConfigLoader.cs index 90dcaf9..214038d 100644 --- a/src/Flyshot.Core.Config/RobotConfigLoader.cs +++ b/src/Flyshot.Core.Config/RobotConfigLoader.cs @@ -16,6 +16,7 @@ public sealed class CompatibilityRobotSettings bool useDo, IEnumerable ioAddresses, int ioKeepCycles, + int triggerSampleIndexOffsetCycles, double accLimitScale, double jerkLimitScale, int adaptIcspTryNum, @@ -29,6 +30,11 @@ public sealed class CompatibilityRobotSettings throw new ArgumentOutOfRangeException(nameof(ioKeepCycles), "IO 保持周期不能为负数。"); } + if (triggerSampleIndexOffsetCycles < 0) + { + throw new ArgumentOutOfRangeException(nameof(triggerSampleIndexOffsetCycles), "触发 sample 偏移周期不能为负数。"); + } + if (accLimitScale <= 0.0) { throw new ArgumentOutOfRangeException(nameof(accLimitScale), "加速度倍率必须大于 0。"); @@ -59,6 +65,7 @@ public sealed class CompatibilityRobotSettings UseDo = useDo; IoAddresses = copiedIoAddresses; IoKeepCycles = ioKeepCycles; + TriggerSampleIndexOffsetCycles = triggerSampleIndexOffsetCycles; AccLimitScale = accLimitScale; JerkLimitScale = jerkLimitScale; AdaptIcspTryNum = adaptIcspTryNum; @@ -81,6 +88,12 @@ public sealed class CompatibilityRobotSettings /// public int IoKeepCycles { get; } + /// + /// 获取触发绑定到最佳 sample 后，还要再向后偏移的命令周期数。 + /// 该值作用在 J519 命令 sample 时间轴，不是 60015 状态反馈周期。 + /// + public int TriggerSampleIndexOffsetCycles { get; } + /// /// 获取加速度全局倍率。 /// @@ -184,6 +197,7 @@ public sealed class RobotConfigLoader useDo: ReadBoolean(robotElement, "use_do", defaultValue: false), ioAddresses: ReadIntArray(robotElement, "io_addr"), ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0), + triggerSampleIndexOffsetCycles: ReadInt(robotElement, "trigger_sample_index_offset_cycles", defaultValue: 7), accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0), jerkLimitScale: ReadDouble(robotElement, "jerk_limit", defaultValue: 1.0), adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0), diff --git a/src/Flyshot.Core.Domain/TrajectoryResult.cs b/src/Flyshot.Core.Domain/TrajectoryResult.cs index 7c55e6c..3523f3d 100644 --- a/src/Flyshot.Core.Domain/TrajectoryResult.cs +++ b/src/Flyshot.Core.Domain/TrajectoryResult.cs @@ -22,6 +22,7 @@ public sealed class TrajectoryResult bool usedCache, int originalWaypointCount, int plannedWaypointCount, + int triggerSampleIndexOffsetCycles = 0, IEnumerable>? denseJointTrajectory = null) { if (string.IsNullOrWhiteSpace(programName)) @@ -44,6 +45,11 @@ public sealed class TrajectoryResult throw new ArgumentOutOfRangeException(nameof(plannedWaypointCount), "Planned waypoint count must be greater than or equal to the original waypoint count."); } + if (triggerSampleIndexOffsetCycles < 0) + { + throw new ArgumentOutOfRangeException(nameof(triggerSampleIndexOffsetCycles), "Trigger sample index offset cycles must be zero or positive."); + } + ArgumentNullException.ThrowIfNull(shotEvents); ArgumentNullException.ThrowIfNull(triggerTimeline); ArgumentNullException.ThrowIfNull(artifacts); @@ -65,6 +71,7 @@ public sealed class TrajectoryResult UsedCache = usedCache; OriginalWaypointCount = originalWaypointCount; PlannedWaypointCount = plannedWaypointCount; + TriggerSampleIndexOffsetCycles = triggerSampleIndexOffsetCycles; DenseJointTrajectory = copiedDenseJointTrajectory; } @@ -134,6 +141,12 @@ public sealed class TrajectoryResult [JsonPropertyName("plannedWaypointCount")] public int PlannedWaypointCount { get; } + /// + /// Gets the configured command-sample offset applied after trigger binding picks the best sample. + /// + [JsonPropertyName("triggerSampleIndexOffsetCycles")] + public int TriggerSampleIndexOffsetCycles { get; } + /// /// Gets the dense joint trajectory samples where each row is [time, j1, j2, ...]. /// Null when dense sampling was not performed (e.g. simulation fallback). @@ -150,7 +163,13 @@ public sealed class TrajectoryDoEvent /// /// Initializes a validated runtime trigger event. /// - public TrajectoryDoEvent(int waypointIndex, double triggerTime, int offsetCycles, int holdCycles, IoAddressGroup addressGroup) + public TrajectoryDoEvent( + int waypointIndex, + double triggerTime, + int offsetCycles, + int holdCycles, + IoAddressGroup addressGroup, + IEnumerable? referenceJointsDegrees = null) { if (waypointIndex < 0) { @@ -172,6 +191,7 @@ public sealed class TrajectoryDoEvent OffsetCycles = offsetCycles; HoldCycles = holdCycles; AddressGroup = addressGroup ?? throw new ArgumentNullException(nameof(addressGroup)); + ReferenceJointsDegrees = referenceJointsDegrees?.ToArray(); } /// @@ -203,6 +223,13 @@ public sealed class TrajectoryDoEvent /// [JsonPropertyName("addressGroup")] public IoAddressGroup AddressGroup { get; } + + /// + /// Gets the teach waypoint joints converted to degrees. + /// This is used to select the closest real send sample inside the trigger time window. + /// + [JsonPropertyName("referenceJointsDegrees")] + public IReadOnlyList? ReferenceJointsDegrees { get; } } /// diff --git a/src/Flyshot.Core.Planning/Export/TrajectoryExporter.cs b/src/Flyshot.Core.Planning/Export/TrajectoryExporter.cs index 60cb059..2f224f4 100644 --- a/src/Flyshot.Core.Planning/Export/TrajectoryExporter.cs +++ b/src/Flyshot.Core.Planning/Export/TrajectoryExporter.cs @@ -1,6 +1,7 @@ using System.Text; using System.Text.Json; using Flyshot.Core.Domain; +using Flyshot.Core.Planning.Sampling; namespace Flyshot.Core.Planning.Export; @@ -52,13 +53,51 @@ public static class TrajectoryExporter /// public static void WriteShotEvents(string path, IReadOnlyList events) { + WriteShotEvents(path, events, bindings: null); + } + + /// + /// 导出触发事件到 JSON 文件，并可选附带最终绑定到的实际 sample 信息。 + /// + public static void WriteShotEvents( + string path, + IReadOnlyList events, + IReadOnlyList? bindings) + { + var bindingByWaypointIndex = bindings? + .GroupBy(static binding => binding.Trigger.WaypointIndex) + .ToDictionary(static group => group.Key, static group => group.First()); + var payload = events.Select(e => new { waypoint_index = e.WaypointIndex, trigger_time = Math.Round(e.TriggerTime, 6), sample_index = e.SampleIndex, sample_time = Math.Round(e.SampleTime, 6), - addrs = e.AddressGroup.Addresses.ToList() + addrs = e.AddressGroup.Addresses.ToList(), + trigger_window_seconds = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out var binding) + ? Math.Round(TriggerSampleBinder.TriggerBindingToleranceSeconds, 6) + : (double?)null, + selected_sample_index = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding) + ? binding.SampleIndex + : (int?)null, + selected_send_time = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding) + ? Math.Round(binding.Sample.SendTime, 6) + : (double?)null, + selected_trajectory_time = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding) + ? Math.Round(binding.Sample.TrajectoryTime, 6) + : (double?)null, + io_mask = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding) + ? ComputeIoValue(binding.Trigger.AddressGroup) + : (ushort?)null, + reference_joints_deg = bindingByWaypointIndex is not null + && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding) + && binding.Trigger.ReferenceJointsDegrees is { Count: > 0 } + ? binding.Trigger.ReferenceJointsDegrees.Select(static value => Math.Round(value, 6)).ToArray() + : null, + trigger_joints_deg = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding) + ? binding.Sample.JointsDegrees.Select(static value => Math.Round(value, 6)).ToArray() + : null }).ToList(); var json = JsonSerializer.Serialize(payload, new JsonSerializerOptions @@ -79,4 +118,21 @@ public static class TrajectoryExporter File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false)); } + + /// + /// 把 IO 地址组中的地址号映射为 writeIoValue 的位掩码，和运行时 / saveTrajectory 导出保持一致。 + /// + private static ushort ComputeIoValue(IoAddressGroup group) + { + ushort value = 0; + foreach (var addr in group.Addresses) + { + if (addr is >= 1 and <= 16) + { + value |= (ushort)(1 << (addr - 1)); + } + } + + return value; + } } diff --git a/src/Flyshot.Core.Planning/Sampling/TriggerSampleBinder.cs b/src/Flyshot.Core.Planning/Sampling/TriggerSampleBinder.cs new file mode 100644 index 0000000..3f99845 --- /dev/null +++ b/src/Flyshot.Core.Planning/Sampling/TriggerSampleBinder.cs @@ -0,0 +1,134 @@ +using Flyshot.Core.Domain; + +namespace Flyshot.Core.Planning.Sampling; + +/// +/// 负责把理论触发事件绑定到实际 J519 发送 sample。 +/// 绑定规则为：先在理论触发时间前后固定时间窗内筛候选点，再优先选择关节差最小的 sample。 +/// +public static class TriggerSampleBinder +{ + /// + /// 当前触发绑定使用的固定近时窗半宽，单位为秒。 + /// 即：以理论触发时间为中心，在前后各 100ms 的范围内寻找最优 sample。 + /// + public const double TriggerBindingToleranceSeconds = 0.1; + + /// + /// 把一组触发事件绑定到采样后的 J519 sample。 + /// + /// 待绑定的触发事件。 + /// J519 实发 sample。 + /// 在最佳绑定 sample 基础上继续向后偏移的命令周期数。 + /// 按最终 sampleIndex 排序的绑定结果。 + public static IReadOnlyList Bind( + IReadOnlyList triggers, + IReadOnlyList samples, + int sampleIndexOffsetCycles = 0) + { + ArgumentNullException.ThrowIfNull(triggers); + ArgumentNullException.ThrowIfNull(samples); + if (sampleIndexOffsetCycles < 0) + { + throw new ArgumentOutOfRangeException(nameof(sampleIndexOffsetCycles), "触发 sample 偏移周期不能为负数。"); + } + + var bindings = new List(triggers.Count); + if (triggers.Count == 0 || samples.Count == 0) + { + return bindings; + } + + var lastSampleIndex = samples.Count - 1; + foreach (var trigger in triggers) + { + var fallbackIndex = FindClosestTrajectoryTimeSampleIndex(samples, trigger.TriggerTime); + var candidateStart = Math.Max(0, fallbackIndex - 1); + var candidateEnd = Math.Min(lastSampleIndex, fallbackIndex + 1); + var bestIndex = fallbackIndex; + var bestScore = double.PositiveInfinity; + var foundInWindow = false; + + for (var sampleIndex = candidateStart; sampleIndex <= candidateEnd; sampleIndex++) + { + var sample = samples[sampleIndex]; + if (Math.Abs(sample.TrajectoryTime - trigger.TriggerTime) > TriggerBindingToleranceSeconds) + { + continue; + } + + foundInWindow = true; + var score = trigger.ReferenceJointsDegrees is { Count: > 0 } + ? ComputeJointDifferenceScore(trigger.ReferenceJointsDegrees, sample.JointsDegrees) + : Math.Abs(sample.TrajectoryTime - trigger.TriggerTime); + if (score < bestScore) + { + bestScore = score; + bestIndex = sampleIndex; + } + } + + var finalIndex = Math.Min(lastSampleIndex, bestIndex + sampleIndexOffsetCycles); + bindings.Add(new TriggerSampleBinding(trigger, samples[finalIndex], finalIndex, foundInWindow)); + } + + return bindings + .OrderBy(static binding => binding.SampleIndex) + .ThenBy(static binding => binding.Trigger.WaypointIndex) + .ToArray(); + } + + /// + /// 按轨迹时间找到最接近理论触发时刻的 sample。 + /// + public static int FindClosestTrajectoryTimeSampleIndex(IReadOnlyList samples, double triggerTime) + { + ArgumentNullException.ThrowIfNull(samples); + + var bestIndex = 0; + var bestDelta = double.PositiveInfinity; + for (var sampleIndex = 0; sampleIndex < samples.Count; sampleIndex++) + { + var delta = Math.Abs(samples[sampleIndex].TrajectoryTime - triggerTime); + if (delta < bestDelta) + { + bestDelta = delta; + bestIndex = sampleIndex; + } + } + + return bestIndex; + } + + /// + /// 计算参考示教点与候选 sample 的关节差评分，使用平方和即可稳定排序。 + /// + public static double ComputeJointDifferenceScore( + IReadOnlyList? referenceJointsDegrees, + IReadOnlyList sampleJointsDegrees) + { + if (referenceJointsDegrees is null || referenceJointsDegrees.Count == 0) + { + return 0.0; + } + + var jointCount = Math.Min(referenceJointsDegrees.Count, sampleJointsDegrees.Count); + var score = 0.0; + for (var index = 0; index < jointCount; index++) + { + var delta = sampleJointsDegrees[index] - referenceJointsDegrees[index]; + score += delta * delta; + } + + return score; + } +} + +/// +/// 表示一个理论触发事件最终绑定到哪个 J519 sample 的结果。 +/// +public sealed record TriggerSampleBinding( + TrajectoryDoEvent Trigger, + J519SendSample Sample, + int SampleIndex, + bool FoundInWindow); diff --git a/src/Flyshot.Core.Triggering/ShotTimelineBuilder.cs b/src/Flyshot.Core.Triggering/ShotTimelineBuilder.cs index 4c84ef0..affbea5 100644 --- a/src/Flyshot.Core.Triggering/ShotTimelineBuilder.cs +++ b/src/Flyshot.Core.Triggering/ShotTimelineBuilder.cs @@ -8,9 +8,22 @@ namespace Flyshot.Core.Triggering; /// 根据规划轨迹和飞拍配置生成触发时间轴，把示教点上的 shot_flags / offset_values / addr /// 映射成带理论时间和离散化时间的 ShotEvent，以及可直接注入伺服流的 TrajectoryDoEvent。 /// +/// +/// 本构建器只负责“时间轴映射”和“事件打包”，不负责轨迹规划与运行时发送。 +/// 其中： +/// - ShotEvent 用于诊断、导出和日志观察； +/// - TrajectoryDoEvent 用于运行时伺服链路注入 DO 脉冲。 +/// public sealed class ShotTimelineBuilder { + /// + /// 将原始示教点索引映射到规划后时间轴上的时间戳解析器。 + /// private readonly WaypointTimestampResolver _resolver; + + /// + /// 可选日志记录器，用于输出时间轴构建统计信息。 + /// private readonly ILogger? _logger; /// @@ -32,6 +45,17 @@ public sealed class ShotTimelineBuilder /// 稠密采样周期，用于离散化 sample_index 和 sample_time。 /// 是否生成可注入伺服流的 DO 事件。 /// 包含 ShotEvent 和 TrajectoryDoEvent 的触发时间轴。 + /// 当 为 null 时抛出。 + /// + /// 当 小于 0，或 小于等于 0 时抛出。 + /// + /// + /// 时间计算规则： + /// - 理论触发时间：timestamp[i] + offset_values[i] * trigger_period； + /// - 离散采样索引：Round(trigger_time / sample_period)； + /// - 离散采样时间：sample_index * sample_period。 + /// 该离散化与运行时 8ms 周期下发模型一致，可用于对齐导出与诊断。 + /// public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod, bool useDo = true) { ArgumentNullException.ThrowIfNull(trajectory); @@ -55,6 +79,7 @@ public sealed class ShotTimelineBuilder var shotEvents = new List(); var triggerTimeline = new List(); + // 遍历原始示教点，仅对 shot_flag=true 的点生成触发事件。 for (int i = 0; i < program.Waypoints.Count; i++) { if (!program.ShotFlags[i]) @@ -62,6 +87,7 @@ public sealed class ShotTimelineBuilder continue; } + // 先得到连续时间上的理论触发时刻，再映射到离散采样周期。 double triggerTime = timestamps[i] + program.OffsetValues[i] * triggerPeriodSeconds; int sampleIndex = (int)Math.Round(triggerTime / samplePeriodSeconds); double sampleTime = sampleIndex * samplePeriodSeconds; @@ -83,7 +109,8 @@ public sealed class ShotTimelineBuilder triggerTime: triggerTime, offsetCycles: program.OffsetValues[i], holdCycles: holdCycles, - addressGroup: addressGroup)); + addressGroup: addressGroup, + referenceJointsDegrees: program.Waypoints[i].Positions.Select(static radians => radians * 180.0 / Math.PI))); } } diff --git a/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs b/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs index 21b8496..5377286 100644 --- a/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs +++ b/src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs @@ -1,6 +1,7 @@ using System.Diagnostics; using System.Text; using Flyshot.Core.Domain; +using Flyshot.Core.Planning.Export; using Flyshot.Core.Planning.Sampling; using Flyshot.Runtime.Common; using Flyshot.Runtime.Fanuc.Protocol; @@ -569,7 +570,6 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable var servoPeriodSeconds = _robot!.ServoPeriod.TotalSeconds; var speedRatio = _speedRatio; var trajectoryStepSeconds = servoPeriodSeconds * speedRatio; - var triggerToleranceSeconds = trajectoryStepSeconds / 2.0; var durationSeconds = result.Duration.TotalSeconds; var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory( result.DenseJointTrajectory!, @@ -586,12 +586,18 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable "SendDenseTrajectory 开始: program={ProgramName}, 采样数={SampleCount}, 时长={Duration}s, speedRatio={SpeedRatio}, 周期={Period}ms, 触发事件数={TriggerCount}", result.ProgramName, sampleCount, durationSeconds, speedRatio, servoPeriodSeconds * 1000, triggers.Count); + var triggerBindings = TriggerSampleBinder.Bind( + triggers, + samples, + result.TriggerSampleIndexOffsetCycles); + var stopwatch = Stopwatch.StartNew(); ushort ioValue = 0; ushort ioMask = 0; int holdRemaining = -1; long logInterval = Math.Max(1, sampleCount / 10); int triggerFiredCount = 0; + var nextBindingIndex = 0; var commands = new List(sampleCount); var sentJointRows = new List>(sampleCount); var sentTimingRows = new List>(sampleCount); @@ -624,19 +630,30 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable // 检查当前周期是否有新的触发事件。 if (holdRemaining < 0 && !clearMaskAfterSend) { - foreach (var trigger in triggers) + while (nextBindingIndex < triggerBindings.Count + && triggerBindings[nextBindingIndex].SampleIndex < sample.SampleIndex) { - if (Math.Abs(sample.TrajectoryTime - trigger.TriggerTime) <= triggerToleranceSeconds) - { - ioMask = ComputeIoValue(trigger.AddressGroup); - ioValue = ioMask; - holdRemaining = Math.Max(trigger.HoldCycles - 1, 0); - triggerFiredCount++; - _logger?.LogInformation( - "J519 IO触发: time={Time:F4}s, addr=[{Addr}], holdCycles={HoldCycles}", - sample.TrajectoryTime, string.Join(",", trigger.AddressGroup.Addresses), trigger.HoldCycles); - break; - } + nextBindingIndex++; + } + + if (nextBindingIndex < triggerBindings.Count + && triggerBindings[nextBindingIndex].SampleIndex == sample.SampleIndex) + { + var binding = triggerBindings[nextBindingIndex]; + ioMask = ComputeIoValue(binding.Trigger.AddressGroup); + ioValue = ioMask; + holdRemaining = Math.Max(binding.Trigger.HoldCycles - 1, 0); + triggerFiredCount++; + nextBindingIndex++; + _logger?.LogInformation( + "J519 IO触发: waypointIndex={WaypointIndex}, theoryTime={TheoryTime:F4}s, sampleIndex={SampleIndex}, sampleSendTime={SampleSendTime:F4}s, sampleTrajectoryTime={SampleTrajectoryTime:F4}s, addr=[{Addr}], holdCycles={HoldCycles}", + binding.Trigger.WaypointIndex, + binding.Trigger.TriggerTime, + binding.SampleIndex, + binding.Sample.SendTime, + binding.Sample.TrajectoryTime, + string.Join(",", binding.Trigger.AddressGroup.Addresses), + binding.Trigger.HoldCycles); } } @@ -684,7 +701,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable sample.TrajectoryTime); } } - TryWriteDenseSendArtifacts(outputDir, sentJointRows, sentTimingRows, sentJerkRows); + 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。 _j519Client.LoadCommandQueue(commands); @@ -828,22 +845,26 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable /// 尝试把实际发送点位、时间映射和跃度统计写入纯文本文件；若落盘失败，只记录日志，不影响运动主流程。 /// private void TryWriteDenseSendArtifacts( + TrajectoryResult result, string outputDir, IReadOnlyList> sentJointRows, IReadOnlyList> sentTimingRows, - IReadOnlyList> sentJerkRows) + IReadOnlyList> sentJerkRows, + IReadOnlyList triggerBindings) { try { WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), sentJointRows); WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), sentTimingRows); WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), sentJerkRows); + TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), result.ShotEvents, triggerBindings); _logger?.LogInformation( - "SendDenseTrajectory 已写出实际发送记录: outputDir={OutputDir}, pointRows={PointRows}, timingRows={TimingRows}, jerkRows={JerkRows}", + "SendDenseTrajectory 已写出实际发送记录: outputDir={OutputDir}, pointRows={PointRows}, timingRows={TimingRows}, jerkRows={JerkRows}, triggerBindings={TriggerBindings}", outputDir, sentJointRows.Count, sentTimingRows.Count, - sentJerkRows.Count); + sentJerkRows.Count, + triggerBindings.Count); } catch (Exception exception) { @@ -888,15 +909,16 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable /// /// 把 IO 地址组中的地址号映射为 writeIoValue 的位掩码。 + /// 手册约定 writeIoIndex=1 时，LSB 对应第 1 个 IO 点，因此地址 N 对应 bit(N-1)。 /// internal static ushort ComputeIoValue(IoAddressGroup group) { ushort value = 0; foreach (var addr in group.Addresses) { - if (addr is >= 0 and < 16) + if (addr is >= 1 and <= 16) { - value |= (ushort)(1 << addr); + value |= (ushort)(1 << (addr - 1)); } } diff --git a/src/Flyshot.Server.Host/.config/dotnet-tools.json b/src/Flyshot.Server.Host/.config/dotnet-tools.json new file mode 100644 index 0000000..4f7afb6 --- /dev/null +++ b/src/Flyshot.Server.Host/.config/dotnet-tools.json @@ -0,0 +1,13 @@ +{ + "version": 1, + "isRoot": true, + "tools": { + "dotnet-ef": { + "version": "10.0.7", + "commands": [ + "dotnet-ef" + ], + "rollForward": false + } + } +} \ No newline at end of file diff --git a/src/Flyshot.Server.Host/appsettings.Development.json b/src/Flyshot.Server.Host/appsettings.Development.json index a58e1bc..99b4ec1 100644 --- a/src/Flyshot.Server.Host/appsettings.Development.json +++ b/src/Flyshot.Server.Host/appsettings.Development.json @@ -25,5 +25,12 @@ "AllowedHeaders": [ "*" ] + }, + "Kestrel": { + "Endpoints": { + "Http": { + "Url": "http://0.0.0.0:5190" + } + } } } diff --git a/src/Flyshot.Server.Host/appsettings.json b/src/Flyshot.Server.Host/appsettings.json index e093daa..e8d68f9 100644 --- a/src/Flyshot.Server.Host/appsettings.json +++ b/src/Flyshot.Server.Host/appsettings.json @@ -30,5 +30,12 @@ "*" ] }, + "Kestrel": { + "Endpoints": { + "Http": { + "Url": "http://0.0.0.0:5000" + } + } + }, "AllowedHosts": "*" } diff --git a/tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs b/tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs index 36bd11f..4d7975d 100644 --- a/tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs +++ b/tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs @@ -21,6 +21,7 @@ public sealed class ConfigCompatibilityTests Assert.True(loaded.Robot.UseDo); Assert.Equal([7, 8], loaded.Robot.IoAddresses); Assert.Equal(2, loaded.Robot.IoKeepCycles); + Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles); Assert.Equal(1.0, loaded.Robot.AccLimitScale); Assert.Equal(1.0, loaded.Robot.JerkLimitScale); Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale); @@ -70,6 +71,7 @@ public sealed class ConfigCompatibilityTests Assert.False(loaded.Robot.UseDo); Assert.Empty(loaded.Robot.IoAddresses); Assert.Equal(3, loaded.Robot.IoKeepCycles); + Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles); Assert.Equal(0.5, loaded.Robot.AccLimitScale); Assert.Equal(0.25, loaded.Robot.JerkLimitScale); Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale); @@ -123,6 +125,46 @@ public sealed class ConfigCompatibilityTests } } + /// + /// 验证 RobotConfig.json 可以显式配置触发绑定后的命令 sample 后移周期数。 + /// + [Fact] + public void RobotConfigLoader_LoadsTriggerSampleIndexOffsetCycles() + { + var tempRoot = CreateTempDirectory(); + try + { + var configPath = Path.Combine(tempRoot, "legacy.json"); + File.WriteAllText( + configPath, + """ + { + "robot": { + "use_do": true, + "io_keep_cycles": 2, + "trigger_sample_index_offset_cycles": 8, + "acc_limit": 1.0, + "jerk_limit": 1.0 + }, + "flying_shots": { + "demo": { + "traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]], + "shot_flags": [false, false, false, false] + } + } + } + """); + + var loaded = new RobotConfigLoader().Load(configPath); + + Assert.Equal(8, loaded.Robot.TriggerSampleIndexOffsetCycles); + } + finally + { + Directory.Delete(tempRoot, recursive: true); + } + } + /// /// 验证 RobotConfig.json 可以关闭飞拍执行前的二次平滑起停时间重映射。 /// diff --git a/tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs b/tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs index dd1df01..fb6631a 100644 --- a/tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs +++ b/tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs @@ -71,6 +71,7 @@ public sealed class ControllerClientCompatConfigRootTests useDo: true, ioAddresses: [7, 8], ioKeepCycles: 2, + triggerSampleIndexOffsetCycles: 7, accLimitScale: 1.0, jerkLimitScale: 1.0, adaptIcspTryNum: 5); @@ -83,6 +84,7 @@ public sealed class ControllerClientCompatConfigRootTests Assert.False(Directory.Exists(Path.Combine(configRoot, "TrajectoryStore")), "不应再创建独立轨迹存储目录。"); var loaded = store.LoadAll("FANUC_LR_Mate_200iD", out var loadedSettings); Assert.NotNull(loadedSettings); + Assert.Equal(7, loadedSettings.TriggerSampleIndexOffsetCycles); Assert.Contains(trajectory.Name, loaded); store.Delete("FANUC_LR_Mate_200iD", trajectory.Name); diff --git a/tests/Flyshot.Core.Tests/DomainModelTests.cs b/tests/Flyshot.Core.Tests/DomainModelTests.cs index 3560b57..6192dae 100644 --- a/tests/Flyshot.Core.Tests/DomainModelTests.cs +++ b/tests/Flyshot.Core.Tests/DomainModelTests.cs @@ -1,5 +1,6 @@ using System.Text.Json; using Flyshot.Core.Domain; +using Flyshot.Core.Planning.Sampling; namespace Flyshot.Core.Tests; @@ -164,7 +165,8 @@ public sealed class DomainModelTests triggerTime: 0.5, offsetCycles: 0, holdCycles: 1, - addressGroup: new IoAddressGroup(new[] { 100 })) + addressGroup: new IoAddressGroup(new[] { 100 }), + referenceJointsDegrees: new[] { 12.5, -3.0 }) }, artifacts: new[] { @@ -176,7 +178,8 @@ public sealed class DomainModelTests failureReason: null, usedCache: true, originalWaypointCount: 4, - plannedWaypointCount: 5); + plannedWaypointCount: 5, + triggerSampleIndexOffsetCycles: 7); var json = JsonSerializer.Serialize(result); @@ -184,6 +187,36 @@ public sealed class DomainModelTests Assert.Contains("\"method\":\"SelfAdaptIcsp\"", json); Assert.Contains("\"kind\":\"JointDenseTrajectory\"", json); Assert.Contains("\"usedCache\":true", json); + Assert.Contains("\"triggerSampleIndexOffsetCycles\":7", json); + Assert.Contains("\"referenceJointsDegrees\":[12.5,-3]", json); + } + + /// + /// 验证触发绑定允许在最佳 sample 基础上继续向后偏移固定命令周期。 + /// + [Fact] + public void TriggerSampleBinder_Bind_AppliesConfiguredSampleIndexOffset() + { + var trigger = new TrajectoryDoEvent( + waypointIndex: 1, + triggerTime: 0.008, + offsetCycles: 0, + holdCycles: 2, + addressGroup: new IoAddressGroup([2, 4]), + referenceJointsDegrees: [10.0, 20.0]); + var samples = new[] + { + new J519SendSample(sampleIndex: 0, sendTime: 0.0, trajectoryTime: 0.0, speedRatio: 1.0, jointsDegrees: [0.0, 0.0]), + new J519SendSample(sampleIndex: 1, sendTime: 0.008, trajectoryTime: 0.008, speedRatio: 1.0, jointsDegrees: [10.0, 20.0]), + new J519SendSample(sampleIndex: 2, sendTime: 0.016, trajectoryTime: 0.016, speedRatio: 1.0, jointsDegrees: [11.0, 21.0]), + new J519SendSample(sampleIndex: 3, sendTime: 0.024, trajectoryTime: 0.024, speedRatio: 1.0, jointsDegrees: [12.0, 22.0]) + }; + + var binding = Assert.Single(Flyshot.Core.Planning.Sampling.TriggerSampleBinder.Bind([trigger], samples, sampleIndexOffsetCycles: 2)); + + Assert.True(binding.FoundInWindow); + Assert.Equal(3, binding.SampleIndex); + Assert.Equal(0.024, binding.Sample.SendTime, precision: 6); } /// diff --git a/tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs b/tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs index c71b565..53485b7 100644 --- a/tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs +++ b/tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs @@ -146,8 +146,8 @@ public sealed class FanucControllerRuntimeDenseTests var denseTrajectory = new[] { new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, - new[] { 0.008, Math.PI / 2.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, - new[] { 0.016, Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0 } + new[] { 0.008, DegreesToRadians(1.0), 0.0, 0.0, 0.0, 0.0, 0.0 }, + new[] { 0.016, DegreesToRadians(2.0), 0.0, 0.0, 0.0, 0.0, 0.0 } }; var result = new TrajectoryResult( @@ -164,7 +164,7 @@ public sealed class FanucControllerRuntimeDenseTests plannedWaypointCount: 4, denseJointTrajectory: denseTrajectory); - runtime.ExecuteTrajectory(result, [Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0]); + runtime.ExecuteTrajectory(result, [DegreesToRadians(2.0), 0.0, 0.0, 0.0, 0.0, 0.0]); WaitUntilIdle(runtime); var commands = j519Client.GetCommandHistoryForTests(); @@ -172,14 +172,17 @@ public sealed class FanucControllerRuntimeDenseTests var pointsPath = Path.Combine(runDir, "ActualSendJointTraj.txt"); var timingPath = Path.Combine(runDir, "ActualSendTiming.txt"); var jerkPath = Path.Combine(runDir, "ActualSendJerkStats.txt"); + var shotEventsPath = Path.Combine(runDir, "ShotEvents.json"); Assert.True(File.Exists(pointsPath)); Assert.True(File.Exists(timingPath)); Assert.True(File.Exists(jerkPath)); + Assert.True(File.Exists(shotEventsPath)); var pointLines = File.ReadAllLines(pointsPath); var timingLines = File.ReadAllLines(timingPath); var jerkLines = File.ReadAllLines(jerkPath); + var shotEventsJson = File.ReadAllText(shotEventsPath); Assert.Equal(commands.Count, pointLines.Length); Assert.Equal(commands.Count, timingLines.Length); Assert.Equal(Math.Max(0, commands.Count - 1), jerkLines.Length); @@ -191,7 +194,7 @@ public sealed class FanucControllerRuntimeDenseTests Assert.Equal(9, lastColumns.Length); Assert.Equal(0.0, firstColumns[0], precision: 6); Assert.Equal(0.008, secondColumns[0], precision: 6); - Assert.Equal(180.0, lastColumns[1], precision: 6); + Assert.Equal(2.0, lastColumns[1], precision: 6); var firstTimingColumns = ParseColumns(timingLines[0]); var secondTimingColumns = ParseColumns(timingLines[1]); @@ -211,6 +214,8 @@ public sealed class FanucControllerRuntimeDenseTests Assert.Equal(10, firstJerkColumns.Length); Assert.Equal(0.0, firstJerkColumns[0], precision: 6); Assert.Equal(0.008, firstJerkColumns[2], precision: 6); + + Assert.Equal("[]", shotEventsJson.Trim()); } finally { @@ -561,8 +566,63 @@ public sealed class FanucControllerRuntimeDenseTests var commands = j519Client.GetCommandHistoryForTests(); Assert.Equal(4, commands.Count); - Assert.Equal([(ushort)0, (ushort)10, (ushort)10, (ushort)10], commands.Select(static command => command.WriteIoMask)); - Assert.Equal([(ushort)0, (ushort)10, (ushort)10, (ushort)0], commands.Select(static command => command.WriteIoValue)); + Assert.Equal([(ushort)0, (ushort)5, (ushort)5, (ushort)5], commands.Select(static command => command.WriteIoMask)); + Assert.Equal([(ushort)0, (ushort)5, (ushort)5, (ushort)0], commands.Select(static command => command.WriteIoValue)); + } + + /// + /// 验证同一时间窗口内存在多个候选 sample 时，会优先把 IO 挂到关节坐标最接近示教点的那一帧。 + /// + [Fact] + public void ExecuteTrajectory_WithDenseWaypoints_RealMode_PrefersClosestJointSampleWithinTriggerWindow() + { + using var commandClient = new FanucCommandClient(); + using var stateClient = new FanucStateClient(); + using var j519Client = new FanucJ519Client(); + using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client); + var robot = TestRobotFactory.CreateRobotProfile(); + runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD"); + j519Client.EnableCommandHistoryForTests(); + ForceRealModeEnabled(runtime, speedRatio: 1.0); + + var denseTrajectory = new[] + { + new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, + new[] { 0.008, DegreesToRadians(1.0), 0.0, 0.0, 0.0, 0.0, 0.0 }, + new[] { 0.016, DegreesToRadians(2.0), 0.0, 0.0, 0.0, 0.0, 0.0 }, + new[] { 0.024, DegreesToRadians(3.0), 0.0, 0.0, 0.0, 0.0, 0.0 } + }; + + var result = new TrajectoryResult( + programName: "demo", + method: PlanningMethod.Icsp, + isValid: true, + duration: TimeSpan.FromSeconds(0.024), + shotEvents: Array.Empty(), + triggerTimeline: + [ + new TrajectoryDoEvent( + waypointIndex: 1, + triggerTime: 0.012, + offsetCycles: 0, + holdCycles: 1, + addressGroup: new IoAddressGroup([1]), + referenceJointsDegrees: [2.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + ], + artifacts: Array.Empty(), + failureReason: null, + usedCache: false, + originalWaypointCount: 4, + plannedWaypointCount: 4, + denseJointTrajectory: denseTrajectory); + + runtime.ExecuteTrajectory(result, [DegreesToRadians(3.0), 0.0, 0.0, 0.0, 0.0, 0.0]); + WaitUntilIdle(runtime); + + var commands = j519Client.GetCommandHistoryForTests(); + Assert.Equal(4, commands.Count); + Assert.Equal([(ushort)0, (ushort)0, (ushort)1, (ushort)1], commands.Select(static command => command.WriteIoMask)); + Assert.Equal([(ushort)0, (ushort)0, (ushort)1, (ushort)0], commands.Select(static command => command.WriteIoValue)); } /// @@ -677,13 +737,16 @@ public sealed class FanucControllerRuntimeDenseTests } /// - /// 验证 IO 地址组中的地址号被正确映射为 writeIoValue 的位掩码。 + /// 验证 IO 地址组中的地址号按 writeIoIndex=1 的手册语义映射为 writeIoValue 位掩码。 /// [Theory] - [InlineData(new[] { 0 }, (ushort)1)] - [InlineData(new[] { 7 }, (ushort)128)] - [InlineData(new[] { 7, 8 }, (ushort)384)] // 128 + 256 - [InlineData(new[] { 15 }, (ushort)32768)] + [InlineData(new[] { 1 }, (ushort)1)] + [InlineData(new[] { 2, 4 }, (ushort)10)] + [InlineData(new[] { 3, 4 }, (ushort)12)] + [InlineData(new[] { 2, 3, 4 }, (ushort)14)] + [InlineData(new[] { 8 }, (ushort)128)] + [InlineData(new[] { 8, 9 }, (ushort)384)] // 128 + 256 + [InlineData(new[] { 16 }, (ushort)32768)] [InlineData(new int[] { }, (ushort)0)] public void ComputeIoValue_MapsAddressesToBitMask(int[] addresses, ushort expected) { @@ -693,12 +756,12 @@ public sealed class FanucControllerRuntimeDenseTests } /// - /// 验证超过 15 的地址号会被安全忽略，不会溢出位掩码。 + /// 验证超出 1..16 范围的地址号会被安全忽略，不会污染位掩码。 /// [Fact] public void ComputeIoValue_IgnoresOutOfRangeAddresses() { - var group = new IoAddressGroup([0, 16, 7]); + var group = new IoAddressGroup([0, 1, 17, 8]); var actual = FanucControllerRuntime.ComputeIoValue(group); Assert.Equal((ushort)(1 | 128), actual); } diff --git a/tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs b/tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs index afa8c54..44da988 100644 --- a/tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs +++ b/tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs @@ -170,6 +170,51 @@ public sealed class PlanningCompatibilityTests Assert.Equal(1, doEvent.WaypointIndex); Assert.Equal(1, doEvent.OffsetCycles); Assert.Equal(2, doEvent.HoldCycles); + Assert.NotNull(doEvent.ReferenceJointsDegrees); + Assert.Equal(RadiansToDegrees(1.0), doEvent.ReferenceJointsDegrees![0], precision: 6); + Assert.Equal(0.0, doEvent.ReferenceJointsDegrees![1], precision: 6); + } + + /// + /// 验证时间轴会把示教点关节角保存到 DO 事件里，供运行时在近时窗内做最小关节差绑定。 + /// + [Fact] + public void ShotTimelineBuilder_PopulatesReferenceJointsDegreesForRuntimeBinding() + { + var robot = CreateRobotProfile([1, 1], [1, 1], [1, 1]); + var program = new FlyshotProgram( + name: "demo", + waypoints: + [ + new JointWaypoint([0.0, 0.0]), + new JointWaypoint([Math.PI / 6.0, -Math.PI / 4.0]) + ], + shotFlags: [false, true], + offsetValues: [0, 0], + addressGroups: + [ + new IoAddressGroup(Array.Empty()), + new IoAddressGroup([1]) + ]); + + var trajectory = new PlannedTrajectory( + robot: robot, + originalProgram: program, + plannedWaypoints: program.Waypoints, + waypointTimes: [0.0, 0.5], + segmentDurations: [0.5], + segmentScales: [1.0], + method: PlanningMethod.Icsp, + iterations: 1, + threshold: 0.0); + + var timeline = new ShotTimelineBuilder(new WaypointTimestampResolver()) + .Build(trajectory, holdCycles: 1, samplePeriod: TimeSpan.FromMilliseconds(8)); + + var trigger = Assert.Single(timeline.TriggerTimeline); + Assert.NotNull(trigger.ReferenceJointsDegrees); + Assert.Equal(30.0, trigger.ReferenceJointsDegrees![0], precision: 6); + Assert.Equal(-45.0, trigger.ReferenceJointsDegrees![1], precision: 6); } /// @@ -271,4 +316,9 @@ public sealed class PlanningCompatibilityTests throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root."); } + + private static double RadiansToDegrees(double radians) + { + return radians * 180.0 / Math.PI; + } } diff --git a/tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs b/tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs index 9468a80..50a5efa 100644 --- a/tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs +++ b/tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs @@ -189,6 +189,7 @@ public sealed class RuntimeOrchestrationTests useDo: true, ioAddresses: [7, 8], ioKeepCycles: 4, + triggerSampleIndexOffsetCycles: 7, accLimitScale: 1.0, jerkLimitScale: 1.0, adaptIcspTryNum: 5); @@ -212,6 +213,7 @@ public sealed class RuntimeOrchestrationTests useDo: false, ioAddresses: [7, 8], ioKeepCycles: 4, + triggerSampleIndexOffsetCycles: 7, accLimitScale: 1.0, jerkLimitScale: 1.0, adaptIcspTryNum: 5); @@ -940,11 +942,14 @@ public sealed class RuntimeOrchestrationTests var outputDir = Path.Combine(configRoot, "Data", "demo-flyshot"); var pointsPath = Path.Combine(outputDir, "ActualSendJointTraj.txt"); var timingPath = Path.Combine(outputDir, "ActualSendTiming.txt"); + var shotEventsPath = Path.Combine(outputDir, "ShotEvents.json"); Assert.True(File.Exists(pointsPath)); Assert.True(File.Exists(timingPath)); + Assert.True(File.Exists(shotEventsPath)); var pointRows = File.ReadAllLines(pointsPath).Select(ParseSpaceSeparatedDoubles).ToArray(); var timingRows = File.ReadAllLines(timingPath).Select(ParseSpaceSeparatedDoubles).ToArray(); + var shotEventsJson = File.ReadAllText(shotEventsPath); var executionDuration = double.Parse( File.ReadLines(Path.Combine(outputDir, "JointDetialTraj.txt")).Last().Split(' ')[0], CultureInfo.InvariantCulture); @@ -956,6 +961,8 @@ public sealed class RuntimeOrchestrationTests Assert.Equal(0.008, pointRows[1][0], precision: 6); Assert.Equal(0.004, timingRows[1][2], precision: 6); Assert.Equal(0.5, timingRows[1][3], precision: 6); + Assert.Contains("\"trigger_window_seconds\": 0.1", shotEventsJson); + Assert.Contains("\"selected_sample_index\"", shotEventsJson); } finally { @@ -1127,6 +1134,7 @@ public sealed class RuntimeOrchestrationTests useDo: settings.UseDo, ioAddresses: settings.IoAddresses, ioKeepCycles: settings.IoKeepCycles, + triggerSampleIndexOffsetCycles: settings.TriggerSampleIndexOffsetCycles, accLimitScale: settings.AccLimitScale, jerkLimitScale: settings.JerkLimitScale, adaptIcspTryNum: settings.AdaptIcspTryNum,