Compare commits
10 Commits
0292e077ff
...
milestone/
| Author | SHA1 | Date | |
|---|---|---|---|
| 1779067b5c | |||
| c6829d214a | |||
| 70b0ccd414 | |||
| 783716ff44 | |||
| b1710e5d01 | |||
| af65ca03a0 | |||
| 91c1494cde | |||
| a6579f1e5b | |||
| c38faddbf0 | |||
| 0724efebed |
@@ -8,7 +8,35 @@
|
||||
"Bash(DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal)",
|
||||
"Bash(DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj --no-build -v minimal)",
|
||||
"Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json'\\)\\); json.load\\(open\\('.vscode/tasks.json'\\)\\); print\\('JSON valid.'\\)\")",
|
||||
"Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json', encoding='utf-8'\\)\\); json.load\\(open\\('.vscode/tasks.json', encoding='utf-8'\\)\\); print\\('JSON valid.'\\)\")"
|
||||
"Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json', encoding='utf-8'\\)\\); json.load\\(open\\('.vscode/tasks.json', encoding='utf-8'\\)\\); print\\('JSON valid.'\\)\")",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj -v minimal')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
|
||||
"Bash(taskkill /PID 120812 /F)",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build flyshot-replacement.sln --no-restore -v minimal 2>&1')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build /d/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/flyshot-replacement/FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
|
||||
"Bash(capinfos \"20260430.pcap\")",
|
||||
"Bash(tshark -r \"20260430.pcap\" -T fields -e frame.number -e frame.time_relative -e ip.src -e ip.dst -e udp.srcport -e udp.dstport -e data.len)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.srcport -e udp.length -e data.len)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e udp.length)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e udp.length)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e ip.dst -e udp.srcport -e udp.dstport -e udp.length -e frame.protocols)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and frame.number==1\" -V)",
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||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.dstport!=60015\" -T fields -e frame.number -e frame.time_relative -e ip.dst -e udp.dstport)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.length)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frj519.type -e frj519.seq -e frj519.status -e frj519.j1 -e frj519.j2 -e frj519.j3 -e frj519.j4 -e frj519.j5 -e frj519.j6 -e frj519.j7 -e frj519.j8 -e frj519.j9 -e frj519.timestamp)",
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||||
"Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frj519.type -e frj519.seq -e frj519.status -e frj519.j1 -e frj519.j2 -e frj519.j3 -e frj519.j4 -e frj519.j5 -e frj519.j6 -e frj519.j7 -e frj519.j8 -e frj519.j9 -e frj519.timestamp -e frj519.x -e frj519.y -e frj519.z -e frj519.w -e frj519.p -e frj519.r)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -E header=y)",
|
||||
"Bash(tshark -G fields)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frame.time_relative -e data)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
|
||||
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
|
||||
"Bash(tshark -r \"20260430.pcap\" --disable-protocol frj519 -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj --no-restore -v minimal 2>&1 | tail -20')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1 | tail -25')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1 | tail -15')",
|
||||
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --no-restore -v minimal 2>&1 | tail -30')"
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||||
]
|
||||
}
|
||||
}
|
||||
|
||||
4
.gitignore
vendored
4
.gitignore
vendored
@@ -396,3 +396,7 @@ FodyWeavers.xsd
|
||||
|
||||
# JetBrains Rider
|
||||
*.sln.iml
|
||||
Config/Data/*
|
||||
.dotnet-home/*
|
||||
codex-dotnet-home/*
|
||||
.dotnet-sdk8/*
|
||||
|
||||
17
AGENTS.md
17
AGENTS.md
@@ -112,6 +112,15 @@ flyshot-replacement/
|
||||
- 所有静态变量都必须提供 XML 注释。
|
||||
- 关键代码块必须补充单行注释，说明该段逻辑为什么存在、在做什么，不允许只写空泛注释。
|
||||
|
||||
### 4.5 机器人模型字段约定
|
||||
|
||||
- 当任务涉及六轴 `velocity / acceleration / jerk` 来源时，默认先查看机器人模型文件中的 `joint.limit`，不要先从抓包、导出轨迹或聊天记录反推。
|
||||
- 当前仓库约定：`velocity_eff = velocity_base`，`acceleration_eff = acceleration_base * acc_limit`，`jerk_eff = jerk_base * jerk_limit`。
|
||||
- `acc_limit / jerk_limit` 来自运行时 `RobotConfig.json`，它们是全局倍率，不是每轴单独配置。
|
||||
- 模型里的 `limit.effort` 目前只能当静态模型字段记录，不能直接当现场真实电流。
|
||||
- 如果用户问“电流是不是从这个模型文件提取的”，默认先明确区分：模型里的 `effort` 不等于 J519 反馈里的电机电流。
|
||||
- 相关固定表格文档见 `docs/robot-joint-limit-table-20260505.md`。
|
||||
|
||||
## 5. 构建与验证命令
|
||||
|
||||
在当前环境中，推荐使用下面两条命令：
|
||||
@@ -141,6 +150,7 @@ flyshot-replacement/
|
||||
- `../analysis/ICSP_algorithm_reverse_analysis.md`
|
||||
- `../analysis/CommonMsg_protocol_analysis.md`
|
||||
- `../analysis/J519_stream_motion_analysis.md`
|
||||
- `../analysis/UTTC_20260428_packet_validation.md`
|
||||
- `../analysis/FANUC_realtime_comm_analysis.md`
|
||||
- `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h`
|
||||
|
||||
@@ -174,7 +184,10 @@ flyshot-replacement/
|
||||
- 新 HTTP API / HTTP-only `ControllerClientCompat` 已覆盖旧 HTTP 控制器后端的主要兼容语义。
|
||||
- `Flyshot.Core.Planning` 已落地 `icsp` 与 `self-adapt-icsp`，并已完成旧系统导出轨迹对齐。
|
||||
- `Flyshot.Core.Triggering` 已能从 `shot_flags / offset_values / addr` 生成触发时间轴。
|
||||
- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码，`10010` 状态帧以 `j519 协议.pcap` 真机抓包确认为 90B。
|
||||
- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码，`10010` 状态帧以 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 真机抓包确认为 90B。
|
||||
- `Flyshot.Runtime.Fanuc` 已将 TCP 10010 的 `pose[6]`、`joint[6]`、`external_axes[3]` 和 `raw_tail_words[4]` 映射为明确状态帧字段，并在状态快照中保留尾部状态字诊断信息。
|
||||
- `Flyshot.Runtime.Fanuc` 已具备基础 Socket 客户端、速度倍率/TCP/IO 参数命令和 J519 周期发送链路，但 J519 闭环与现场联调仍需补齐。
|
||||
- `Rvbust/uttc-20260428` 抓包确认 J519 命令目标为关节角 `deg`，而导出 `JointDetialTraj.txt` 为 `rad`；执行链路必须做单位转换。
|
||||
- `Rvbust/uttc-20260428` 抓包确认 `speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；本抓包机器人侧 `TCP 10012` 未出现 `0x2207 SetSpeedRatio`，不要把速度缩放只建模成单个机器人命令。J519 实发周期仍为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio`，`UTTC_MS11` 的 `464` 行导出轨迹对应 `1322` 个主运行 J519 包。
|
||||
- `Rvbust/uttc-20260428` 抓包确认 `UTTC_MS11` 的 17 个 `shot_flags=true` 对应 17 个 UDP IO 脉冲，`io_keep_cycles=2` 对应约两周期清零。
|
||||
- `Flyshot.Runtime.Fanuc` 已具备基础 Socket 客户端、速度倍率/TCP/IO 参数命令和 J519 周期发送链路；稠密轨迹下发已按 `speed_ratio` 推进轨迹时间，J519 闭环状态判断与现场联调仍需补齐。
|
||||
- `ExecuteTrajectory` / `ExecuteFlyShotTraj` 已接入 `Planning + Triggering + Runtime`，不再只是兼容层内存赋值。
|
||||
|
||||
@@ -134,6 +134,7 @@ flyshot-replacement/
|
||||
- `../analysis/ICSP_algorithm_reverse_analysis.md`
|
||||
- `../analysis/CommonMsg_protocol_analysis.md`
|
||||
- `../analysis/J519_stream_motion_analysis.md`
|
||||
- `../analysis/UTTC_20260428_packet_validation.md`
|
||||
- `../analysis/FANUC_realtime_comm_analysis.md`
|
||||
- `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h`
|
||||
|
||||
@@ -150,3 +151,7 @@ flyshot-replacement/
|
||||
- `Flyshot.Server.Host` 已提供最小 `/healthz`。
|
||||
- 最小集成测试已通过。
|
||||
- 解决方案构建已通过。
|
||||
- `10010` 状态帧以 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 真机抓包确认为 90B。
|
||||
- `Rvbust/uttc-20260428` 抓包确认 J519 命令目标为关节角 `deg`，而导出 `JointDetialTraj.txt` 为 `rad`；执行链路必须做单位转换。
|
||||
- `Rvbust/uttc-20260428` 抓包确认 `speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；本抓包机器人侧 `TCP 10012` 未出现 `0x2207 SetSpeedRatio`。J519 实发周期仍为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio`，`UTTC_MS11` 的 `464` 行导出轨迹对应 `1322` 个主运行 J519 包。
|
||||
- `Rvbust/uttc-20260428` 抓包确认 `UTTC_MS11` 的 17 个 `shot_flags=true` 对应 17 个 UDP IO 脉冲，`io_keep_cycles=2` 对应约两周期清零。
|
||||
|
||||
BIN
Config/Models/Expand/LR_Mate_200iD_7L_expand.robot
Normal file
BIN
Config/Models/Expand/LR_Mate_200iD_7L_expand.robot
Normal file
Binary file not shown.
BIN
Config/Models/Expand/LR_Mate_200iD_expand.robot
Normal file
BIN
Config/Models/Expand/LR_Mate_200iD_expand.robot
Normal file
Binary file not shown.
BIN
Config/Models/LR_Mate_200iD.robot
Normal file
BIN
Config/Models/LR_Mate_200iD.robot
Normal file
Binary file not shown.
BIN
Config/Models/LR_Mate_200iD_7L -.glb
Normal file
BIN
Config/Models/LR_Mate_200iD_7L -.glb
Normal file
Binary file not shown.
366
Config/Models/LR_Mate_200iD_7L.json
Normal file
366
Config/Models/LR_Mate_200iD_7L.json
Normal file
@@ -0,0 +1,366 @@
|
||||
{
|
||||
"scenes": [
|
||||
{
|
||||
"extras": {
|
||||
"rvbust": {
|
||||
"robotics": {
|
||||
"bodies": [
|
||||
{
|
||||
"active_manipulator_name": "ManipulatorName",
|
||||
"controller_info": {
|
||||
"analog_io": {
|
||||
"imax": 100,
|
||||
"imin": 0,
|
||||
"omax": 100,
|
||||
"omin": 0
|
||||
},
|
||||
"digital_io": {
|
||||
"imax": 100,
|
||||
"imin": 0,
|
||||
"omax": 100,
|
||||
"omin": 0
|
||||
},
|
||||
"name": "R30iB"
|
||||
},
|
||||
"generic_info": {
|
||||
"boundary_area": {
|
||||
"height": 0.8689,
|
||||
"length": 0.8194,
|
||||
"pose": [
|
||||
0.103025,
|
||||
0.0,
|
||||
0.10445,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"type": 2,
|
||||
"width": 0.2349
|
||||
},
|
||||
"materials": [
|
||||
{
|
||||
"color": [
|
||||
0.15,
|
||||
0.15,
|
||||
0.15,
|
||||
1.0
|
||||
],
|
||||
"name": "FANUC_Black",
|
||||
"texture_filename": ""
|
||||
},
|
||||
{
|
||||
"color": [
|
||||
1.0,
|
||||
1.0,
|
||||
1.0,
|
||||
1.0
|
||||
],
|
||||
"name": "FANUC_Generic",
|
||||
"texture_filename": ""
|
||||
},
|
||||
{
|
||||
"color": [
|
||||
0.278,
|
||||
0.278,
|
||||
0.278,
|
||||
1.0
|
||||
],
|
||||
"name": "FANUC_Grey",
|
||||
"texture_filename": ""
|
||||
},
|
||||
{
|
||||
"color": [
|
||||
1.0,
|
||||
1.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"name": "FANUC_Yellow",
|
||||
"texture_filename": ""
|
||||
}
|
||||
],
|
||||
"path_to_image": "./LR_Mate_200iD_7L.png"
|
||||
},
|
||||
"joints": [
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"child": "Link1",
|
||||
"curr_position": 0.0,
|
||||
"home_position": 0.0,
|
||||
"limit": {
|
||||
"acceleration": 26.9,
|
||||
"effort": 0.0,
|
||||
"jerk": 224.22,
|
||||
"lower": -2.96,
|
||||
"upper": 2.96,
|
||||
"velocity": 6.45
|
||||
},
|
||||
"name": "Joint1",
|
||||
"origin": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"parent": "BaseLink",
|
||||
"type": 2
|
||||
},
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0,
|
||||
0.0
|
||||
],
|
||||
"child": "Link2",
|
||||
"curr_position": 0.0,
|
||||
"home_position": 0.0,
|
||||
"limit": {
|
||||
"acceleration": 22.54,
|
||||
"effort": 0.0,
|
||||
"jerk": 187.86,
|
||||
"lower": -1.74,
|
||||
"upper": 2.52,
|
||||
"velocity": 5.41
|
||||
},
|
||||
"name": "Joint2",
|
||||
"origin": [
|
||||
0.05,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"parent": "Link1",
|
||||
"type": 2
|
||||
},
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-1.0,
|
||||
0.0
|
||||
],
|
||||
"child": "Link3",
|
||||
"couple": {
|
||||
"kin_lower": -1.22,
|
||||
"kin_upper": 3.71,
|
||||
"master_joint": "Joint2",
|
||||
"multiplier": 1.0,
|
||||
"offset": 0.0,
|
||||
"poly_boundary": [
|
||||
-1.745,
|
||||
0.524,
|
||||
-1.745,
|
||||
4.886,
|
||||
-1.132,
|
||||
4.832,
|
||||
2.53,
|
||||
1.1677,
|
||||
2.53067,
|
||||
-2.02841,
|
||||
1.3739,
|
||||
-2.574281
|
||||
]
|
||||
},
|
||||
"curr_position": 0.0,
|
||||
"home_position": 0.0,
|
||||
"limit": {
|
||||
"acceleration": 29.81,
|
||||
"effort": 0.0,
|
||||
"jerk": 248.46,
|
||||
"lower": -2.59,
|
||||
"upper": 4.88,
|
||||
"velocity": 7.15
|
||||
},
|
||||
"name": "Joint3",
|
||||
"origin": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.44,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"parent": "Link2",
|
||||
"type": 2
|
||||
},
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-1.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"child": "Link4",
|
||||
"curr_position": 0.0,
|
||||
"home_position": 0.0,
|
||||
"limit": {
|
||||
"acceleration": 39.99,
|
||||
"effort": 0.0,
|
||||
"jerk": 333.3,
|
||||
"lower": -3.31,
|
||||
"upper": 3.31,
|
||||
"velocity": 9.59
|
||||
},
|
||||
"name": "Joint4",
|
||||
"origin": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.035,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"parent": "Link3",
|
||||
"type": 2
|
||||
},
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-1.0,
|
||||
0.0
|
||||
],
|
||||
"child": "Link5",
|
||||
"curr_position": -1.5708,
|
||||
"home_position": -1.5708,
|
||||
"limit": {
|
||||
"acceleration": 39.63,
|
||||
"effort": 0.0,
|
||||
"jerk": 330.27,
|
||||
"lower": -2.18,
|
||||
"upper": 2.18,
|
||||
"velocity": 9.51
|
||||
},
|
||||
"name": "Joint5",
|
||||
"origin": [
|
||||
0.42,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"parent": "Link4",
|
||||
"type": 2
|
||||
},
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-1.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"child": "Link6",
|
||||
"curr_position": 0.0,
|
||||
"home_position": 0.0,
|
||||
"limit": {
|
||||
"acceleration": 72.72,
|
||||
"effort": 0.0,
|
||||
"jerk": 606.01,
|
||||
"lower": -6.28,
|
||||
"upper": 6.28,
|
||||
"velocity": 17.45
|
||||
},
|
||||
"name": "Joint6",
|
||||
"origin": [
|
||||
0.08,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"parent": "Link5",
|
||||
"type": 2
|
||||
},
|
||||
{
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"child": "EffectorLink",
|
||||
"curr_position": 0.0,
|
||||
"home_position": 0.0,
|
||||
"limit": {
|
||||
"acceleration": 0.0,
|
||||
"effort": 0.0,
|
||||
"jerk": 0.0,
|
||||
"lower": 0.0,
|
||||
"upper": 0.0,
|
||||
"velocity": 0.0
|
||||
},
|
||||
"name": "JointEffector",
|
||||
"origin": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.7071067811865475,
|
||||
0.0,
|
||||
0.7071067811865475,
|
||||
0.0
|
||||
],
|
||||
"parent": "Link6",
|
||||
"type": 1
|
||||
}
|
||||
],
|
||||
"name": "FANUC_LR_Mate_200iD_7L",
|
||||
"other": {
|
||||
"base_transformation": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
"robot_generic_info": {
|
||||
"payload": 7.0,
|
||||
"reach": 0.911,
|
||||
"repeat": 0.01,
|
||||
"vendor": "FANUC",
|
||||
"weight": 27.0
|
||||
},
|
||||
"rvdf_version": "0.1.0"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
BIN
Config/Models/LR_Mate_200iD_7L.robot
Normal file
BIN
Config/Models/LR_Mate_200iD_7L.robot
Normal file
Binary file not shown.
BIN
Config/Models/workpiece.stl
Normal file
BIN
Config/Models/workpiece.stl
Normal file
Binary file not shown.
303
Config/RobotConfig.json
Normal file
303
Config/RobotConfig.json
Normal file
@@ -0,0 +1,303 @@
|
||||
{
|
||||
"robot": {
|
||||
"use_do": true,
|
||||
"io_addr": [
|
||||
7,
|
||||
8
|
||||
],
|
||||
"io_keep_cycles": 2,
|
||||
"acc_limit": 1,
|
||||
"jerk_limit": 1,
|
||||
"adapt_icsp_try_num": 5,
|
||||
"planning_speed_scale": 0.74227,
|
||||
"smooth_start_stop_timing": false
|
||||
},
|
||||
"flying_shots": {
|
||||
"UTTC_MS11": {
|
||||
"traj_waypoints": [
|
||||
[
|
||||
1.056731,
|
||||
0.011664811,
|
||||
-0.017892333,
|
||||
-0.01516874,
|
||||
0.021492079,
|
||||
0.009567846
|
||||
],
|
||||
[
|
||||
0.8532358,
|
||||
0.03837953,
|
||||
-0.19235304,
|
||||
0.0071595116,
|
||||
0.109054826,
|
||||
0.040055145
|
||||
],
|
||||
[
|
||||
0.96600056,
|
||||
0.20607172,
|
||||
-0.12233179,
|
||||
-1.2394339,
|
||||
0.10493033,
|
||||
1.2958988
|
||||
],
|
||||
[
|
||||
0.9618476,
|
||||
0.15288207,
|
||||
-0.14867093,
|
||||
-0.7176314,
|
||||
0.1764264,
|
||||
0.73228663
|
||||
],
|
||||
[
|
||||
0.76189893,
|
||||
-0.028442925,
|
||||
-0.30919823,
|
||||
0.10463613,
|
||||
0.5615024,
|
||||
-0.39399016
|
||||
],
|
||||
[
|
||||
1.1271763,
|
||||
0.074403025,
|
||||
-0.27347943,
|
||||
-0.5227772,
|
||||
0.52098846,
|
||||
0.79633313
|
||||
],
|
||||
[
|
||||
1.0555661,
|
||||
0.4026262,
|
||||
-0.08746306,
|
||||
0.6301835,
|
||||
0.09644133,
|
||||
-0.5463328
|
||||
],
|
||||
[
|
||||
1.2300354,
|
||||
0.28612664,
|
||||
-0.23486805,
|
||||
-0.4868128,
|
||||
0.25369516,
|
||||
0.55347764
|
||||
],
|
||||
[
|
||||
1.2144431,
|
||||
-0.29855102,
|
||||
-0.15202847,
|
||||
-1.0205934,
|
||||
0.13317892,
|
||||
1.1246506
|
||||
],
|
||||
[
|
||||
1.2840607,
|
||||
-0.11222197,
|
||||
-0.16805042,
|
||||
-2.248135,
|
||||
0.2560587,
|
||||
2.4434967
|
||||
],
|
||||
[
|
||||
1.3189346,
|
||||
-0.25620222,
|
||||
-0.12730704,
|
||||
-2.285038,
|
||||
0.30872014,
|
||||
2.4765089
|
||||
],
|
||||
[
|
||||
1.502615,
|
||||
-0.25304365,
|
||||
-0.23878741,
|
||||
-1.2194318,
|
||||
0.46674785,
|
||||
1.5533328
|
||||
],
|
||||
[
|
||||
1.07723,
|
||||
-0.07387611,
|
||||
-0.1707704,
|
||||
-1.8916591,
|
||||
0.38677844,
|
||||
2.061968
|
||||
],
|
||||
[
|
||||
1.3920237,
|
||||
0.08098731,
|
||||
-0.2672306,
|
||||
-0.9780007,
|
||||
0.4561093,
|
||||
0.9102286
|
||||
],
|
||||
[
|
||||
1.9016331,
|
||||
0.023924276,
|
||||
-0.58633333,
|
||||
-0.8441697,
|
||||
0.76730615,
|
||||
1.4842151
|
||||
],
|
||||
[
|
||||
1.9300697,
|
||||
-0.06738541,
|
||||
-0.56542397,
|
||||
-0.892083,
|
||||
0.77194446,
|
||||
1.5293273
|
||||
],
|
||||
[
|
||||
2.0611632,
|
||||
-0.30327517,
|
||||
-0.54225636,
|
||||
-1.0395275,
|
||||
0.8505439,
|
||||
1.6429617
|
||||
],
|
||||
[
|
||||
1.0921186,
|
||||
-0.40034482,
|
||||
-0.1803499,
|
||||
1.3524796,
|
||||
0.6210477,
|
||||
-1.2159473
|
||||
],
|
||||
[
|
||||
1.0521278,
|
||||
-0.40034503,
|
||||
-0.1803492,
|
||||
1.3524843,
|
||||
0.6210471,
|
||||
-1.2159531
|
||||
],
|
||||
[
|
||||
1.056731,
|
||||
0.011664811,
|
||||
-0.017892333,
|
||||
-0.01516874,
|
||||
0.021492079,
|
||||
0.009567846
|
||||
]
|
||||
],
|
||||
"shot_flags": [
|
||||
false,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
false,
|
||||
true,
|
||||
false
|
||||
],
|
||||
"offset_values": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"addr": [
|
||||
[],
|
||||
[
|
||||
2,
|
||||
4
|
||||
],
|
||||
[
|
||||
3,
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
3,
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
3,
|
||||
4
|
||||
],
|
||||
[
|
||||
3,
|
||||
4
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
3
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
2
|
||||
],
|
||||
[
|
||||
4,
|
||||
3
|
||||
],
|
||||
[]
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
41
NLog.config
Normal file
41
NLog.config
Normal file
@@ -0,0 +1,41 @@
|
||||
<?xml version="1.0" encoding="utf-8" ?>
|
||||
<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
|
||||
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"
|
||||
autoReload="true"
|
||||
throwExceptions="false"
|
||||
internalLogLevel="Off" >
|
||||
|
||||
<!-- 环境变量配置：如果 ASPNETCORE_ENVIRONMENT 为空，则默认为 Production -->
|
||||
<variable name="env" value="${environment:ASPNETCORE_ENVIRONMENT:whenEmpty=Production}"/>
|
||||
|
||||
<!-- 文件目标：按日期分文件，单文件超过 4MB 自动归档，保留最近 50 个归档文件 -->
|
||||
<targets>
|
||||
<target name="logfile" xsi:type="File"
|
||||
fileName="${basedir}/logs/${shortdate}.log"
|
||||
layout="${longdate}|${level:uppercase=true}|${threadid}|${logger}|${message}${onexception:${newline} ${exception:format=tostring}}"
|
||||
archiveFileName="${basedir}/logs/${shortdate}.{#}.log"
|
||||
archiveAboveSize="4048576"
|
||||
archiveNumbering="Sequence"
|
||||
maxArchiveFiles="50"
|
||||
concurrentWrites="true"
|
||||
keepFileOpen="false"
|
||||
encoding="utf-8" />
|
||||
|
||||
<!-- 控制台目标：开发环境使用，带颜色高亮 -->
|
||||
<target name="logconsole" xsi:type="Console"
|
||||
layout="${longdate}|${level:uppercase=true}|${threadid}|${logger}|${message}${onexception:${newline} ${exception:format=tostring}}" />
|
||||
</targets>
|
||||
|
||||
<rules>
|
||||
<!-- 压制 ASP.NET Core 的常规信息日志，只保留 Error 及以上级别。 -->
|
||||
<logger name="Microsoft.AspNetCore.*" maxlevel="Warn" final="true" />
|
||||
<logger name="Microsoft.AspNetCore.*" minlevel="Error" writeTo="logconsole,logfile" />
|
||||
|
||||
<!-- 开发环境：显示控制台 + 详细文件，最低 Debug -->
|
||||
<logger name="*" minlevel="Debug" writeTo="logconsole,logfile" condition="equals('${var:env}','Development')" />
|
||||
|
||||
<!-- 生产环境：仅文件，最低 Info -->
|
||||
<logger name="*" minlevel="Info" writeTo="logfile" condition="not_equals('${var:env}','Development')" />
|
||||
</rules>
|
||||
</nlog>
|
||||
57
README.md
57
README.md
@@ -17,8 +17,35 @@
|
||||
- 宿主只保留 ASP.NET Core HTTP 控制器层，以及其后端 `Flyshot.ControllerClientCompat` 兼容服务。
|
||||
- `ExecuteTrajectory` 与 `ExecuteFlyShotTraj` 已经接入 `Planning + Triggering + Runtime` 链路；Web 状态页已通过 `/status` 和 `/api/status/snapshot` 暴露当前兼容层与运行时状态。
|
||||
- `Flyshot.Core.Planning` 的 ICSP / self-adapt-icsp 轨迹已经完成旧系统导出轨迹对齐；`doubles` 仍未实现。
|
||||
- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码。`10010` 状态通道以 `j519 协议.pcap` 真机抓包确认为 90B 固定帧。
|
||||
- 真机 Socket 客户端已具备基础连接、程序启停、速度倍率/TCP/IO 参数命令和 J519 周期发送能力，但 J519 闭环和现场联调仍需补齐。
|
||||
- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码。`10010` 状态通道以 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 真机抓包确认为 90B 固定帧。
|
||||
- 2026-04-28 UTTC 抓包确认：UDP 60015 命令 `target[0..5]` 为关节角度制 `deg`，`JointDetialTraj.txt` 为弧度制 `rad`，`speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；2026-04-30 实体机确认 `speed_ratio` 不影响生成的 `JointTraj.txt` 规划时长，当前实际生成约 `7.4s` 轨迹。
|
||||
- 2026-04-30 本机 `50001/TCP+JSON` 抓包确认：`ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 请求只显式携带规划方法、保存、缓存和等待参数，不携带 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此旧系统不可见的有效规划限制不再继续假设来自公开链路，新系统按 replacement-only 内部参数限制规划加速度。
|
||||
- 真机 Socket 客户端已具备基础连接、程序启停、速度倍率/TCP/IO 参数命令和 J519 状态包驱动发送能力；稠密轨迹下发已按 `speed_ratio` 做执行时间缩放，并已用 0.5/0.7/1.0 三份 UTTC 抓包固化 J519 golden tests。真实 R30iB 全流程现场联调仍需执行。
|
||||
- `MoveJoint` 已按 `2026042802-mvpoint*.pcap` 复刻为点到点临时轨迹：当前关节到目标关节的关节空间直线，五次 smoothstep 起停，按 `status=15` 运动窗口复现 `40/55/77` 点，并由 J519 层完成 `rad -> deg` 下发。
|
||||
- 单程序只对应一台机器人，上传/删除/恢复飞拍轨迹统一读写运行目录 `Config/RobotConfig.json`，不再创建独立轨迹存储文件。
|
||||
|
||||
单位约定总览：
|
||||
|
||||
- 规划层、`JointDetialTraj.txt` 和运行时内部关节轨迹，默认按弧度制 `rad` 理解。
|
||||
- `UDP 60015` J519 命令 `target[0..5]` 和响应关节反馈按角度制 `deg` 理解；运行时下发前必须显式执行 `rad -> deg` 转换。
|
||||
- `TCP 10010` 状态通道是混合单位：`pose[0..2]` 更像 `mm`，`pose[3..5]` 更像 `deg`，`joint_or_ext[0..5]` 当前现场抓包更支持按 `rad` 理解。
|
||||
- 不要把“关节角”默认当成统一单位；在规划、状态监控和 J519 执行三条链路之间必须明确标注 `rad/deg`。
|
||||
|
||||
当前现场主链路的单位流转可简化为：
|
||||
|
||||
| 位置 | 内容 | 当前更可信单位 |
|
||||
| --- | --- | --- |
|
||||
| 规划输入 / 轨迹算法 | 关节角 | `rad` |
|
||||
| `JointDetialTraj.txt` / `JointTraj.txt` | 关节角 | `rad` |
|
||||
| 运行时下发前内部轨迹 | 关节角 | `rad` |
|
||||
| `UDP 60015` 命令 `target[0..5]` | 关节目标 | `deg` |
|
||||
| `UDP 60015` 响应 `Joint` | 关节反馈 | `deg` |
|
||||
| `TCP 10010` `pose[0..2]` | `X/Y/Z` | `mm` |
|
||||
| `TCP 10010` `pose[3..5]` | 姿态角 | `deg` |
|
||||
| `TCP 10010` `joint_or_ext[0..5]` | 关节状态 | 更像 `rad` |
|
||||
| `TCP 10010` `joint_or_ext[6..8]` | 扩展轴槽位 | 当前样本为 `0` |
|
||||
|
||||
`TCP 10010` 的正式字段表、样例帧和已确认/待确认说明见 `docs/fanuc-10010-state-frame.md`。
|
||||
|
||||
开发约定：
|
||||
|
||||
@@ -42,20 +69,24 @@
|
||||
- [x] 使用本地 TCP/UDP 模拟器覆盖命令通道、状态通道和 J519 基础收发
|
||||
- [x] 补齐 `Get/SetSpeedRatio`、`Get/SetTCP`、`Get/SetIO` 真机命令体与响应解析
|
||||
- [x] 保留新 HTTP 接口路线，明确不再实现旧 `50001/TCP+JSON` 网关
|
||||
- [x] 将飞拍轨迹持久化收敛到运行目录 `Config/RobotConfig.json`
|
||||
|
||||
剩余 Todo：
|
||||
|
||||
1. 配置与测试基线
|
||||
- [x] 修正 `ConfigCompatibilityTests` 当前样本路径漂移：`Rvbust/EOL10_EAU_0/RobotConfig.json` 不再包含 `001`，应改用稳定样本或更新断言。
|
||||
- [x] 将 `RobotConfig.json` 中的 `use_do`、`io_keep_cycles`、`acc_limit`、`jerk_limit`、`adapt_icsp_try_num` 全部贯通到规划和执行链路。
|
||||
- [ ] 为新 HTTP API 补一份当前现场调用顺序文档，替代旧 `ControllerClient` 工作流（`/debug` 页已提供交互式覆盖，仍需补静态文档说明现场调用顺序）。
|
||||
- [x] 将上传飞拍轨迹统一保存到运行目录 `Config/RobotConfig.json` 的 `flying_shots` 节点。
|
||||
- [x] 为新 HTTP API 补一份当前现场调用顺序文档，替代旧 `ControllerClient` 工作流：见 `docs/fanuc-field-runtime-workflow.md`。
|
||||
|
||||
2. 轨迹规划
|
||||
- [x] 补齐 ICSP 最终 `global_scale > 1.0` 失败判定，避免未收敛轨迹被当作有效结果执行。
|
||||
- [x] 将 self-adapt-icsp 的补点次数改为使用配置中的 `adapt_icsp_try_num`。
|
||||
- [ ] 新增 replacement-only 的 `planning_acceleration_scale` 规划加速度校准参数，用于复现旧服务端公开链路中抓不到的保守 effective limits；该参数只影响规划结果，不影响运行时 `speed_ratio`。
|
||||
- [ ] 如果现场仍需要 `method="doubles"`，实现 `TrajectoryDoubleS` 等价规划；否则在 HTTP 文档中明确标为不支持。
|
||||
- [ ] 把已完成对齐的旧系统轨迹样本固化为 golden tests，防止后续重构破坏轨迹一致性。
|
||||
- [ ] 补齐 `save_traj` / `SaveTrajInfo` 的规划结果导出，将稠密关节轨迹、笛卡尔轨迹和 ShotEvents 写入可诊断 artifacts。
|
||||
- [x] 将 `Rvbust/uttc-20260428/Data/JointDetialTraj.txt` 固化为 J519 golden 样本：输入为 `rad`，下发为 `deg`，并按 `speed_ratio` 拉伸时间轴；覆盖 `2026042802-0.5/0.7/1.pcap`。
|
||||
- [x] 补齐飞拍 `save_traj` / `SaveTrajInfo` 的规划结果导出，将关节关键点、稠密关节轨迹、笛卡尔关键点、稠密笛卡尔轨迹和 ShotEvents 写入 `Config/Data/<name>`。
|
||||
|
||||
3. FANUC TCP 10012 命令通道
|
||||
- [x] 补齐 `GetSpeedRatio` / `SetSpeedRatio` 真机命令体与响应解析。
|
||||
@@ -64,19 +95,25 @@
|
||||
- [x] 所有命令响应必须检查 `result_code`，失败时返回可诊断错误，而不是只更新本地缓存。
|
||||
|
||||
4. FANUC TCP 10010 状态通道
|
||||
- [x] 用 `j519 协议.pcap` 中的 90B 真机状态帧扩充状态解析测试样本。
|
||||
- [x] 用 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 中的 90B 真机状态帧扩充状态解析测试样本。
|
||||
- [x] 明确 `pose[6]`、`joint_or_ext[9]`、尾部状态字的字段语义，并映射到 `ControllerStateSnapshot`。
|
||||
- [x] 补充 `TCP 10010` 正式字段表与已确认/待确认说明：见 `docs/fanuc-10010-state-frame.md`。
|
||||
- [x] 补充断线清理和异常帧拒绝测试。
|
||||
- [x] 补充状态通道超时和重连策略，超时后标记陈旧状态并按退避策略自动重连。
|
||||
|
||||
5. FANUC UDP 60015 J519 运动链路
|
||||
- [ ] 重新确认 J519 发送循环与 `FanucControllerRuntime` 稠密轨迹循环的职责边界，避免双重节拍或命令覆盖。
|
||||
- [ ] 补齐 `accept_cmd`、`received_cmd`、`sysrdy`、`rbt_inmotion` 状态位闭环检查。
|
||||
- [ ] 校验序号递增、响应滞后、丢包、停止包和最后一帧语义。
|
||||
- [ ] 将飞拍 IO 触发的 `write_io_type/index/mask/value` 与现场控制柜实际 IO 地址逐项对齐。
|
||||
- [x] 重新确认 J519 发送节拍与 `FanucControllerRuntime` 稠密轨迹循环的职责边界：`FanucJ519Client` 收到机器人 UDP status 后按该 status sequence 回发命令，`FanucControllerRuntime` 只按轨迹时间更新下一帧命令内容。
|
||||
- [x] 执行时将规划输出 `rad` 转为 J519 `deg` 目标，并按当前 `speed_ratio` 调整原轨迹采样时间尺度：第 `k` 个 J519 目标的实发时间为 `t_send = k * 0.008`，采样时间为 `t_traj = t_send * speed_ratio`，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
|
||||
- [x] 补齐 `accept_cmd`、`received_cmd`、`sysrdy`、`rbt_inmotion` 状态位解析与启动前闭环检查；若已有 J519 响应且 `accept_cmd/sysrdy` 未就绪，则拒绝稠密轨迹执行。
|
||||
- [x] 校验序号递增、状态包 sequence 校准、响应滞后、丢包、停止包和最后一帧语义：UTTC golden tests 覆盖连续 seq、无重复 seq、响应滞后 2 到 8 帧、`lastData=0`；J519 客户端测试覆盖收到 status 后按 status sequence 回发命令和 type 2 状态输出停止包。
|
||||
- [x] 将飞拍 IO 触发的 `write_io_type/index/mask/value` 与现场控制柜实际 IO 地址逐项对齐；UTTC golden tests 确认 17 个触发点对应 17 个 UDP IO set 脉冲、17 个 clear 帧，mask 集合为 `10/12/14`。
|
||||
- [x] 将 `MoveJoint` 从单点最终目标改为临时 PTP 稠密轨迹：按 `status=15` 运动窗口统计，speed=1 抓包 40 点，speed=0.7 抓包 55 点，speed=0.5 抓包 77 点，路径为关节空间直线 + smoothstep 进度。
|
||||
- [x] `ExecuteFlyShotTraj(move_to_start=true)` 复用临时 PTP 稠密轨迹移动到规划起点，并等待运行时完成后再启动飞拍轨迹，避免第一帧 J519 目标突变导致控制柜报警。
|
||||
- [x] `ExecuteFlyShotTraj(wait=true)` 等待正式飞拍轨迹执行完成后再返回；HTTP `/execute_flyshot/` 已接入旧抓包中的 `wait` 字段，默认值为 `true`。
|
||||
|
||||
6. 真机联调与运行安全
|
||||
- [ ] 在真实 R30iB + `RVBUSTSM` 程序上验证 `Connect -> EnableRobot -> ExecuteFlyShotTraj -> StopMove -> DisableRobot -> Disconnect` 全流程。
|
||||
- [x] 实体机复核运行速度对轨迹生成时间的影响：`speed_ratio` 不影响 `IsFlyshotTrajectoryValid` / `SaveTrajectoryInfo` 生成的 `JointTraj.txt` 规划时长，当前实际生成约 `7.4s` 轨迹；运行阶段仅 J519 下发时长和包数按 `speed_ratio` 拉伸，UTTC_MS11 参考值为约 `7.4s` 与 `10.56s`。
|
||||
- [ ] 增加急停、伺服未就绪、程序未启动、网络断开、控制柜拒收命令等故障路径处理。
|
||||
- [ ] 给 HTTP 执行接口增加运行互斥、执行中拒绝重复轨迹、取消和超时控制。
|
||||
- [ ] 增加运行日志、协议摘要日志和状态快照导出，便于现场排查。
|
||||
@@ -84,4 +121,4 @@
|
||||
7. 发布与部署
|
||||
- [ ] 固化 Windows / Linux 启动脚本和 systemd 服务配置。
|
||||
- [ ] 补充生产配置模板、端口说明和现场部署检查表。
|
||||
- [ ] 给 Web 状态页增加真机连接、程序状态、J519 状态位和最近报警显示。
|
||||
- [ ] 给 Web 状态页增加程序状态和最近报警显示；J519 状态位已通过快照和状态页显示。
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
{
|
||||
"robot": {
|
||||
"use_do": false,
|
||||
"io_addr": [],
|
||||
"io_keep_cycles": 2,
|
||||
"acc_limit": 1,
|
||||
"jerk_limit": 1,
|
||||
"adapt_icsp_try_num": 5
|
||||
},
|
||||
"flying_shots": {}
|
||||
}
|
||||
461
analysis/calc_jointdetail_acceleration.py
Normal file
461
analysis/calc_jointdetail_acceleration.py
Normal file
@@ -0,0 +1,461 @@
|
||||
#!/usr/bin/env python3
|
||||
"""计算 JointDetialTraj 类文件的速度 / 加速度 / 跃度峰值，并与当前生效轴限位对比。
|
||||
|
||||
输入格式:
|
||||
time joint1 joint2 ... jointN
|
||||
|
||||
本脚本采用的规则:
|
||||
1. 将轨迹按离散时间采样点读取，允许时间轴非等间隔。
|
||||
2. 自动推断角度单位:
|
||||
- 任一关节绝对值超过 2*pi*1.5，则按 degree 处理
|
||||
- 否则按 radian 处理
|
||||
3. 使用后向差分计算导数:
|
||||
v_i = (q_i - q_{i-1}) / dt_i
|
||||
a_i = (v_i - v_{i-1}) / dt_i
|
||||
j_i = (a_i - a_{i-1}) / dt_i
|
||||
4. 所有导数量统一换算成 rad 基单位，再与当前生效的机器人限值比较。
|
||||
|
||||
当前生效限值来源:
|
||||
.robot limit.velocity
|
||||
.robot limit.acceleration * RobotConfig.robot.acc_limit
|
||||
.robot limit.jerk * RobotConfig.robot.jerk_limit
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import math
|
||||
from dataclasses import dataclass
|
||||
from pathlib import Path
|
||||
from typing import Iterable
|
||||
|
||||
|
||||
AUTO_DEG_THRESHOLD = 2.0 * math.pi * 1.5
|
||||
DEFAULT_VELOCITY_LIMITS = [6.45, 5.41, 7.15, 9.59, 9.51, 17.45]
|
||||
DEFAULT_ACCELERATION_LIMITS = [26.90, 22.54, 29.81, 39.99, 39.63, 72.72]
|
||||
DEFAULT_JERK_LIMITS = [224.22, 187.86, 248.46, 333.30, 330.27, 606.01]
|
||||
DEFAULT_JOINT_NAMES = [f"Joint{index}" for index in range(1, 7)]
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class JointLimit:
|
||||
name: str
|
||||
velocity: float
|
||||
acceleration: float
|
||||
jerk: float
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class PeakMetric:
|
||||
joint_name: str
|
||||
axis_index: int
|
||||
window_start: float
|
||||
window_end: float
|
||||
row_number: int
|
||||
metric_native: float
|
||||
metric_rad: float
|
||||
effective_limit_rad: float
|
||||
|
||||
@property
|
||||
def ratio_vs_limit(self) -> float:
|
||||
return abs(self.metric_rad) / self.effective_limit_rad
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class EffectiveLimits:
|
||||
joints: list[JointLimit]
|
||||
|
||||
|
||||
def parse_args() -> argparse.Namespace:
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Calculate velocity / acceleration / jerk peaks from JointDetialTraj.txt and compare with built-in effective robot limits."
|
||||
)
|
||||
parser.add_argument("joint_detail", type=Path, help="Path to JointDetialTraj.txt")
|
||||
parser.add_argument(
|
||||
"--limit-csv",
|
||||
type=Path,
|
||||
default=None,
|
||||
help="Optional CSV file with columns: Joint,Velocity,Acceleration,Jerk . If omitted, use built-in 1/1 effective limits.",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--unit",
|
||||
choices=("auto", "rad", "deg"),
|
||||
default="auto",
|
||||
help="Input joint-angle unit. Default: auto.",
|
||||
)
|
||||
return parser.parse_args()
|
||||
|
||||
|
||||
def resolve_path(path: Path) -> Path:
|
||||
return path if path.is_absolute() else (Path.cwd() / path).resolve()
|
||||
|
||||
|
||||
def read_joint_rows(path: Path) -> list[list[float]]:
|
||||
rows: list[list[float]] = []
|
||||
for raw_line in path.read_text(encoding="utf-8").splitlines():
|
||||
line = raw_line.strip()
|
||||
if not line:
|
||||
continue
|
||||
rows.append([float(part) for part in line.split()])
|
||||
|
||||
if len(rows) < 4:
|
||||
raise ValueError(f"{path} must contain at least 4 rows to calculate jerk.")
|
||||
|
||||
width = len(rows[0])
|
||||
if width < 3:
|
||||
raise ValueError(f"{path} must contain time + at least 2 joint columns.")
|
||||
|
||||
for index, row in enumerate(rows, start=1):
|
||||
if len(row) != width:
|
||||
raise ValueError(f"{path} line {index} has inconsistent column count.")
|
||||
|
||||
return rows
|
||||
|
||||
|
||||
def trim_rows_to_limit_count(rows: list[list[float]], limit_count: int) -> tuple[list[list[float]], str | None]:
|
||||
joint_count = len(rows[0]) - 1
|
||||
if joint_count == limit_count:
|
||||
return rows, None
|
||||
|
||||
if joint_count < limit_count:
|
||||
raise ValueError(f"Joint column count ({joint_count}) is smaller than robot limit count ({limit_count}).")
|
||||
|
||||
trimmed_rows = [row[: limit_count + 1] for row in rows]
|
||||
ignored_joint_count = joint_count - limit_count
|
||||
trim_note = (
|
||||
f"ignored_joint_columns={ignored_joint_count} "
|
||||
f"(using first {limit_count} joints out of {joint_count}; trailing columns treated as external axes/placeholders)"
|
||||
)
|
||||
return trimmed_rows, trim_note
|
||||
|
||||
|
||||
def infer_unit(rows: Iterable[list[float]], requested_unit: str) -> str:
|
||||
if requested_unit != "auto":
|
||||
return requested_unit
|
||||
|
||||
max_abs_joint = max(abs(value) for row in rows for value in row[1:])
|
||||
return "deg" if max_abs_joint > AUTO_DEG_THRESHOLD else "rad"
|
||||
|
||||
|
||||
def read_limit_csv(path: Path) -> list[JointLimit]:
|
||||
rows = [line.strip() for line in path.read_text(encoding="utf-8").splitlines() if line.strip()]
|
||||
if len(rows) < 2:
|
||||
raise ValueError(f"{path} must contain a header and at least one data row.")
|
||||
|
||||
header = [part.strip().lower() for part in rows[0].split(",")]
|
||||
expected = ["joint", "velocity", "acceleration", "jerk"]
|
||||
if header != expected:
|
||||
raise ValueError(f"{path} header must be: Joint,Velocity,Acceleration,Jerk")
|
||||
|
||||
limits: list[JointLimit] = []
|
||||
for row_index, row in enumerate(rows[1:], start=2):
|
||||
parts = [part.strip() for part in row.split(",")]
|
||||
if len(parts) != 4:
|
||||
raise ValueError(f"{path} line {row_index} must contain 4 columns.")
|
||||
limits.append(
|
||||
JointLimit(
|
||||
name=parts[0],
|
||||
velocity=float(parts[1]),
|
||||
acceleration=float(parts[2]),
|
||||
jerk=float(parts[3]),
|
||||
)
|
||||
)
|
||||
return limits
|
||||
|
||||
|
||||
def load_effective_limits(limit_csv_path: Path | None) -> EffectiveLimits:
|
||||
if limit_csv_path is not None:
|
||||
limits = read_limit_csv(resolve_path(limit_csv_path))
|
||||
else:
|
||||
limits = [
|
||||
JointLimit(
|
||||
name=name,
|
||||
velocity=velocity,
|
||||
acceleration=acceleration,
|
||||
jerk=jerk,
|
||||
)
|
||||
for name, velocity, acceleration, jerk in zip(
|
||||
DEFAULT_JOINT_NAMES,
|
||||
DEFAULT_VELOCITY_LIMITS,
|
||||
DEFAULT_ACCELERATION_LIMITS,
|
||||
DEFAULT_JERK_LIMITS,
|
||||
strict=True,
|
||||
)
|
||||
]
|
||||
|
||||
return EffectiveLimits(joints=limits)
|
||||
|
||||
|
||||
def to_radians(value: float, unit: str) -> float:
|
||||
return math.radians(value) if unit == "deg" else value
|
||||
|
||||
|
||||
def to_native_from_rad(value: float, unit: str) -> float:
|
||||
return math.degrees(value) if unit == "deg" else value
|
||||
|
||||
|
||||
def calculate_velocity_peaks(rows: list[list[float]], unit: str, limits: list[JointLimit]) -> list[PeakMetric]:
|
||||
joint_count = len(rows[0]) - 1
|
||||
if joint_count != len(limits):
|
||||
raise ValueError(f"Joint column count ({joint_count}) does not match robot limit count ({len(limits)}).")
|
||||
|
||||
peaks: list[PeakMetric | None] = [None] * joint_count
|
||||
|
||||
for row_index in range(1, len(rows)):
|
||||
previous = rows[row_index - 1]
|
||||
current = rows[row_index]
|
||||
dt = current[0] - previous[0]
|
||||
if dt <= 0.0:
|
||||
raise ValueError(f"Non-positive dt at line {row_index + 1}: {dt}")
|
||||
|
||||
for joint_index in range(joint_count):
|
||||
dq_native = current[joint_index + 1] - previous[joint_index + 1]
|
||||
dq_rad = to_radians(dq_native, unit)
|
||||
velocity_rad = dq_rad / dt
|
||||
velocity_native = to_native_from_rad(velocity_rad, unit)
|
||||
|
||||
candidate = PeakMetric(
|
||||
joint_name=limits[joint_index].name,
|
||||
axis_index=joint_index + 1,
|
||||
window_start=previous[0],
|
||||
window_end=current[0],
|
||||
row_number=row_index + 1,
|
||||
metric_native=velocity_native,
|
||||
metric_rad=velocity_rad,
|
||||
effective_limit_rad=limits[joint_index].velocity,
|
||||
)
|
||||
|
||||
current_peak = peaks[joint_index]
|
||||
if current_peak is None or abs(candidate.metric_rad) > abs(current_peak.metric_rad):
|
||||
peaks[joint_index] = candidate
|
||||
|
||||
return [peak for peak in peaks if peak is not None]
|
||||
|
||||
|
||||
def calculate_acceleration_peaks(rows: list[list[float]], unit: str, limits: list[JointLimit]) -> list[PeakMetric]:
|
||||
joint_count = len(rows[0]) - 1
|
||||
if joint_count != len(limits):
|
||||
raise ValueError(f"Joint column count ({joint_count}) does not match robot limit count ({len(limits)}).")
|
||||
|
||||
velocities_rad: list[list[float]] = []
|
||||
velocity_windows: list[tuple[float, float, int]] = []
|
||||
|
||||
for row_index in range(1, len(rows)):
|
||||
previous = rows[row_index - 1]
|
||||
current = rows[row_index]
|
||||
dt = current[0] - previous[0]
|
||||
if dt <= 0.0:
|
||||
raise ValueError(f"Non-positive dt at line {row_index + 1}: {dt}")
|
||||
|
||||
velocity_row = []
|
||||
for joint_index in range(joint_count):
|
||||
dq_native = current[joint_index + 1] - previous[joint_index + 1]
|
||||
dq_rad = to_radians(dq_native, unit)
|
||||
velocity_row.append(dq_rad / dt)
|
||||
|
||||
velocities_rad.append(velocity_row)
|
||||
velocity_windows.append((previous[0], current[0], row_index + 1))
|
||||
|
||||
peaks: list[PeakMetric | None] = [None] * joint_count
|
||||
|
||||
for velocity_index in range(1, len(velocities_rad)):
|
||||
dt = velocity_windows[velocity_index][1] - velocity_windows[velocity_index][0]
|
||||
for joint_index in range(joint_count):
|
||||
acceleration_rad = (velocities_rad[velocity_index][joint_index] - velocities_rad[velocity_index - 1][joint_index]) / dt
|
||||
acceleration_native = to_native_from_rad(acceleration_rad, unit)
|
||||
|
||||
candidate = PeakMetric(
|
||||
joint_name=limits[joint_index].name,
|
||||
axis_index=joint_index + 1,
|
||||
window_start=velocity_windows[velocity_index][0],
|
||||
window_end=velocity_windows[velocity_index][1],
|
||||
row_number=velocity_windows[velocity_index][2],
|
||||
metric_native=acceleration_native,
|
||||
metric_rad=acceleration_rad,
|
||||
effective_limit_rad=limits[joint_index].acceleration,
|
||||
)
|
||||
|
||||
current_peak = peaks[joint_index]
|
||||
if current_peak is None or abs(candidate.metric_rad) > abs(current_peak.metric_rad):
|
||||
peaks[joint_index] = candidate
|
||||
|
||||
return [peak for peak in peaks if peak is not None]
|
||||
|
||||
|
||||
def calculate_jerk_peaks(rows: list[list[float]], unit: str, limits: list[JointLimit]) -> list[PeakMetric]:
|
||||
joint_count = len(rows[0]) - 1
|
||||
if joint_count != len(limits):
|
||||
raise ValueError(f"Joint column count ({joint_count}) does not match robot limit count ({len(limits)}).")
|
||||
|
||||
velocities_rad: list[list[float]] = []
|
||||
velocity_windows: list[tuple[float, float, int]] = []
|
||||
for row_index in range(1, len(rows)):
|
||||
previous = rows[row_index - 1]
|
||||
current = rows[row_index]
|
||||
dt = current[0] - previous[0]
|
||||
if dt <= 0.0:
|
||||
raise ValueError(f"Non-positive dt at line {row_index + 1}: {dt}")
|
||||
|
||||
velocity_row = []
|
||||
for joint_index in range(joint_count):
|
||||
dq_native = current[joint_index + 1] - previous[joint_index + 1]
|
||||
dq_rad = to_radians(dq_native, unit)
|
||||
velocity_row.append(dq_rad / dt)
|
||||
|
||||
velocities_rad.append(velocity_row)
|
||||
velocity_windows.append((previous[0], current[0], row_index + 1))
|
||||
|
||||
accelerations_rad: list[list[float]] = []
|
||||
acceleration_windows: list[tuple[float, float, int]] = []
|
||||
for velocity_index in range(1, len(velocities_rad)):
|
||||
dt = velocity_windows[velocity_index][1] - velocity_windows[velocity_index][0]
|
||||
acceleration_row = []
|
||||
for joint_index in range(joint_count):
|
||||
acceleration_row.append((velocities_rad[velocity_index][joint_index] - velocities_rad[velocity_index - 1][joint_index]) / dt)
|
||||
accelerations_rad.append(acceleration_row)
|
||||
acceleration_windows.append((velocity_windows[velocity_index][0], velocity_windows[velocity_index][1], velocity_windows[velocity_index][2]))
|
||||
|
||||
peaks: list[PeakMetric | None] = [None] * joint_count
|
||||
|
||||
for acceleration_index in range(1, len(accelerations_rad)):
|
||||
dt = acceleration_windows[acceleration_index][1] - acceleration_windows[acceleration_index][0]
|
||||
for joint_index in range(joint_count):
|
||||
jerk_rad = (accelerations_rad[acceleration_index][joint_index] - accelerations_rad[acceleration_index - 1][joint_index]) / dt
|
||||
jerk_native = to_native_from_rad(jerk_rad, unit)
|
||||
|
||||
candidate = PeakMetric(
|
||||
joint_name=limits[joint_index].name,
|
||||
axis_index=joint_index + 1,
|
||||
window_start=acceleration_windows[acceleration_index][0],
|
||||
window_end=acceleration_windows[acceleration_index][1],
|
||||
row_number=acceleration_windows[acceleration_index][2],
|
||||
metric_native=jerk_native,
|
||||
metric_rad=jerk_rad,
|
||||
effective_limit_rad=limits[joint_index].jerk,
|
||||
)
|
||||
|
||||
current_peak = peaks[joint_index]
|
||||
if current_peak is None or abs(candidate.metric_rad) > abs(current_peak.metric_rad):
|
||||
peaks[joint_index] = candidate
|
||||
|
||||
return [peak for peak in peaks if peak is not None]
|
||||
|
||||
|
||||
def format_table(peaks: list[PeakMetric], native_unit: str, rad_unit: str, limit_header: str) -> str:
|
||||
lines = [
|
||||
f"{'Joint':<8} {'Window(s)':<20} {'Line':>6} {'Peak(' + native_unit + ')':>18} {'Peak(' + rad_unit + ')':>18} {limit_header:>20} {'Ratio':>10}",
|
||||
"-" * 108,
|
||||
]
|
||||
for peak in peaks:
|
||||
lines.append(
|
||||
f"{peak.joint_name:<8} "
|
||||
f"{peak.window_start:>7.6f}->{peak.window_end:<10.6f} "
|
||||
f"{peak.row_number:>6} "
|
||||
f"{peak.metric_native:>18.6f} "
|
||||
f"{peak.metric_rad:>18.6f} "
|
||||
f"{peak.effective_limit_rad:>20.6f} "
|
||||
f"{peak.ratio_vs_limit:>10.4f}"
|
||||
)
|
||||
return "\n".join(lines)
|
||||
|
||||
|
||||
def print_metric_section(title: str, peaks: list[PeakMetric], unit: str, native_suffix: str, rad_suffix: str, limit_header: str) -> None:
|
||||
print(build_metric_section(title, peaks, unit, native_suffix, rad_suffix, limit_header))
|
||||
|
||||
|
||||
def build_metric_section(title: str, peaks: list[PeakMetric], unit: str, native_suffix: str, rad_suffix: str, limit_header: str) -> str:
|
||||
native_unit = f"deg/{native_suffix}" if unit == "deg" else f"rad/{native_suffix}"
|
||||
rad_unit = f"rad/{rad_suffix}"
|
||||
lines = [title, format_table(peaks, native_unit, rad_unit, limit_header)]
|
||||
worst = max(peaks, key=lambda item: item.ratio_vs_limit)
|
||||
metric_key = title.lower().replace(" ", "_")
|
||||
lines.append(
|
||||
f"worst_{metric_key}="
|
||||
f"{worst.joint_name}, window={worst.window_start:.6f}->{worst.window_end:.6f}, "
|
||||
f"peak_rad={worst.metric_rad:.6f}, limit_rad={worst.effective_limit_rad:.6f}, "
|
||||
f"ratio={worst.ratio_vs_limit:.4f}"
|
||||
)
|
||||
return "\n".join(lines)
|
||||
|
||||
|
||||
def build_report_text(
|
||||
joint_detail_path: Path,
|
||||
rows: list[list[float]],
|
||||
unit: str,
|
||||
max_abs_joint: float,
|
||||
limit_source_text: str,
|
||||
trim_note: str | None,
|
||||
velocity_peaks: list[PeakMetric],
|
||||
acceleration_peaks: list[PeakMetric],
|
||||
jerk_peaks: list[PeakMetric],
|
||||
) -> str:
|
||||
lines = [
|
||||
f"joint_detail={joint_detail_path}",
|
||||
limit_source_text,
|
||||
f"row_count={len(rows)}",
|
||||
f"joint_count={len(rows[0]) - 1}",
|
||||
f"inferred_unit={unit}",
|
||||
f"max_abs_joint_value={max_abs_joint:.6f}",
|
||||
]
|
||||
if trim_note is not None:
|
||||
lines.append(trim_note)
|
||||
lines.extend(
|
||||
[
|
||||
"",
|
||||
build_metric_section("Velocity Peaks", velocity_peaks, unit, "s", "s", "VelLimit(rad/s)"),
|
||||
"",
|
||||
build_metric_section("Acceleration Peaks", acceleration_peaks, unit, "s^2", "s^2", "AccLimit(rad/s^2)"),
|
||||
"",
|
||||
build_metric_section("Jerk Peaks", jerk_peaks, unit, "s^3", "s^3", "JerkLimit(rad/s^3)"),
|
||||
"",
|
||||
]
|
||||
)
|
||||
return "\n".join(lines)
|
||||
|
||||
|
||||
def main() -> int:
|
||||
args = parse_args()
|
||||
joint_detail_path = resolve_path(args.joint_detail)
|
||||
rows = read_joint_rows(joint_detail_path)
|
||||
limits_info = load_effective_limits(args.limit_csv)
|
||||
rows, trim_note = trim_rows_to_limit_count(rows, len(limits_info.joints))
|
||||
unit = infer_unit(rows, args.unit)
|
||||
|
||||
velocity_peaks = calculate_velocity_peaks(rows, unit, limits_info.joints)
|
||||
acceleration_peaks = calculate_acceleration_peaks(rows, unit, limits_info.joints)
|
||||
jerk_peaks = calculate_jerk_peaks(rows, unit, limits_info.joints)
|
||||
|
||||
max_abs_joint = max(abs(value) for row in rows for value in row[1:])
|
||||
|
||||
if args.limit_csv is None:
|
||||
limit_source_text = "limit_source=built-in fixed effective limits (acc_limit=1, jerk_limit=1)"
|
||||
else:
|
||||
limit_source_text = f"limit_source_csv={resolve_path(args.limit_csv)}"
|
||||
|
||||
report_text = build_report_text(
|
||||
joint_detail_path=joint_detail_path,
|
||||
rows=rows,
|
||||
unit=unit,
|
||||
max_abs_joint=max_abs_joint,
|
||||
limit_source_text=limit_source_text,
|
||||
trim_note=trim_note,
|
||||
velocity_peaks=velocity_peaks,
|
||||
acceleration_peaks=acceleration_peaks,
|
||||
jerk_peaks=jerk_peaks,
|
||||
)
|
||||
|
||||
print(report_text, end="")
|
||||
|
||||
output_path = joint_detail_path.with_suffix(".analysis.txt")
|
||||
try:
|
||||
output_path.write_text(report_text, encoding="utf-8")
|
||||
print(f"saved_report={output_path}")
|
||||
except PermissionError as error:
|
||||
print(f"save_report_failed={output_path}")
|
||||
print(f"save_report_error={error}")
|
||||
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
raise SystemExit(main())
|
||||
199
analysis/fanuc_10010_dissector.lua
Normal file
199
analysis/fanuc_10010_dissector.lua
Normal file
@@ -0,0 +1,199 @@
|
||||
local plugin_info = {
|
||||
version = "1.1.0",
|
||||
author = "OpenAI Codex",
|
||||
description = "FANUC TCP 10010 状态帧解析器",
|
||||
}
|
||||
|
||||
set_plugin_info(plugin_info)
|
||||
|
||||
local fanuc10010_proto = Proto("fanuc10010_state_frame", "FANUC 10010 State Frame")
|
||||
|
||||
local FRAME_LENGTH = 90
|
||||
local HEADER_LENGTH = 3
|
||||
local TRAILER_LENGTH = 3
|
||||
local LENGTH_OFFSET = 3
|
||||
local MESSAGE_ID_OFFSET = 7
|
||||
local POSE_OFFSET = 11
|
||||
local POSE_COUNT = 6
|
||||
local JOINT_OFFSET = 35
|
||||
local JOINT_COUNT = 9
|
||||
local TAIL_OFFSET = 71
|
||||
local TAIL_COUNT = 4
|
||||
|
||||
local POSE_NAMES = { "X", "Y", "Z", "W", "P", "R" }
|
||||
local JOINT_NAMES = { "J1", "J2", "J3", "J4", "J5", "J6", "Ext1", "Ext2", "Ext3" }
|
||||
local HEADER_MAGIC = "doz"
|
||||
local TRAILER_MAGIC = "zod"
|
||||
|
||||
local fields = {
|
||||
frame = ProtoField.bytes("fanuc10010.frame", "原始状态帧"),
|
||||
header = ProtoField.string("fanuc10010.header", "帧头 Magic"),
|
||||
declared_length = ProtoField.uint32("fanuc10010.length", "声明长度", base.DEC),
|
||||
message_id = ProtoField.uint32("fanuc10010.message_id", "消息号", base.DEC),
|
||||
pose = ProtoField.none("fanuc10010.pose", "笛卡尔位姿"),
|
||||
joints = ProtoField.none("fanuc10010.joints", "关节与扩展轴"),
|
||||
joint_degrees = ProtoField.none("fanuc10010.joint_degrees", "Joint Degrees"),
|
||||
tail = ProtoField.none("fanuc10010.tail", "尾部状态字"),
|
||||
trailer = ProtoField.string("fanuc10010.trailer", "帧尾 Magic"),
|
||||
expert_bad_length = ProtoField.string("fanuc10010.expert.bad_length", "长度异常"),
|
||||
expert_bad_magic = ProtoField.string("fanuc10010.expert.bad_magic", "Magic 异常"),
|
||||
}
|
||||
|
||||
for index = 1, POSE_COUNT do
|
||||
fields["pose_" .. index] = ProtoField.float(
|
||||
"fanuc10010.pose_" .. index,
|
||||
"Pose " .. POSE_NAMES[index])
|
||||
end
|
||||
|
||||
for index = 1, JOINT_COUNT do
|
||||
fields["joint_" .. index] = ProtoField.float(
|
||||
"fanuc10010.joint_" .. index,
|
||||
JOINT_NAMES[index] .. " (raw)")
|
||||
end
|
||||
|
||||
for index = 1, 6 do
|
||||
fields["joint_deg_" .. index] = ProtoField.float(
|
||||
"fanuc10010.joint_deg_" .. index,
|
||||
JOINT_NAMES[index] .. " (deg)")
|
||||
end
|
||||
|
||||
for index = 1, TAIL_COUNT do
|
||||
fields["tail_" .. index] = ProtoField.uint32(
|
||||
"fanuc10010.tail_" .. index,
|
||||
"Tail[" .. (index - 1) .. "]",
|
||||
base.DEC)
|
||||
end
|
||||
|
||||
fanuc10010_proto.fields = fields
|
||||
|
||||
local function read_f32_be(tvb, offset)
|
||||
return tvb(offset, 4):tvb():range(0, 4):float()
|
||||
end
|
||||
|
||||
local function read_u32_be(tvb, offset)
|
||||
return tvb(offset, 4):uint()
|
||||
end
|
||||
|
||||
local function read_ascii(tvb, offset, length)
|
||||
return tvb(offset, length):string()
|
||||
end
|
||||
|
||||
local function radians_to_degrees(value)
|
||||
return value * 180.0 / math.pi
|
||||
end
|
||||
|
||||
local function add_error(subtree, range, field, message)
|
||||
local item = subtree:add(field, range, message)
|
||||
item:add_expert_info(PI_MALFORMED, PI_ERROR, message)
|
||||
end
|
||||
|
||||
local function dissect_single_frame(tvb, pinfo, tree, frame_offset)
|
||||
local remaining = tvb:len() - frame_offset
|
||||
local candidate_length = math.min(remaining, FRAME_LENGTH)
|
||||
local frame_range = tvb(frame_offset, candidate_length)
|
||||
local subtree = tree:add(fanuc10010_proto, frame_range, "FANUC 10010 状态帧")
|
||||
subtree:add(fields.frame, frame_range)
|
||||
|
||||
if remaining < FRAME_LENGTH then
|
||||
add_error(subtree, frame_range, fields.expert_bad_length, "剩余字节不足 90B，无法组成完整状态帧")
|
||||
return remaining
|
||||
end
|
||||
|
||||
local header = read_ascii(tvb, frame_offset, HEADER_LENGTH)
|
||||
local declared_length = read_u32_be(tvb, frame_offset + LENGTH_OFFSET)
|
||||
local message_id = read_u32_be(tvb, frame_offset + MESSAGE_ID_OFFSET)
|
||||
local trailer = read_ascii(tvb, frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH)
|
||||
|
||||
subtree:add(fields.header, tvb(frame_offset, HEADER_LENGTH), header)
|
||||
subtree:add(fields.declared_length, tvb(frame_offset + LENGTH_OFFSET, 4), declared_length)
|
||||
subtree:add(fields.message_id, tvb(frame_offset + MESSAGE_ID_OFFSET, 4), message_id)
|
||||
|
||||
local pose_tree = subtree:add(fields.pose, tvb(frame_offset + POSE_OFFSET, POSE_COUNT * 4))
|
||||
local pose_values = {}
|
||||
for index = 1, POSE_COUNT do
|
||||
local field_offset = frame_offset + POSE_OFFSET + ((index - 1) * 4)
|
||||
local value = read_f32_be(tvb, field_offset)
|
||||
pose_values[index] = value
|
||||
pose_tree:add(fields["pose_" .. index], tvb(field_offset, 4), value)
|
||||
end
|
||||
|
||||
local joint_tree = subtree:add(fields.joints, tvb(frame_offset + JOINT_OFFSET, JOINT_COUNT * 4))
|
||||
local joint_values = {}
|
||||
for index = 1, JOINT_COUNT do
|
||||
local field_offset = frame_offset + JOINT_OFFSET + ((index - 1) * 4)
|
||||
local value = read_f32_be(tvb, field_offset)
|
||||
joint_values[index] = value
|
||||
joint_tree:add(fields["joint_" .. index], tvb(field_offset, 4), value)
|
||||
end
|
||||
|
||||
-- 单独保留一组角度显示，便于对照原始关节弧度值。
|
||||
local joint_degree_tree = subtree:add(fields.joint_degrees, tvb(frame_offset + JOINT_OFFSET, 6 * 4))
|
||||
for index = 1, 6 do
|
||||
local field_offset = frame_offset + JOINT_OFFSET + ((index - 1) * 4)
|
||||
joint_degree_tree:add(
|
||||
fields["joint_deg_" .. index],
|
||||
tvb(field_offset, 4),
|
||||
radians_to_degrees(joint_values[index]))
|
||||
end
|
||||
|
||||
local tail_tree = subtree:add(fields.tail, tvb(frame_offset + TAIL_OFFSET, TAIL_COUNT * 4))
|
||||
local tail_values = {}
|
||||
for index = 1, TAIL_COUNT do
|
||||
local field_offset = frame_offset + TAIL_OFFSET + ((index - 1) * 4)
|
||||
local value = read_u32_be(tvb, field_offset)
|
||||
tail_values[index] = value
|
||||
tail_tree:add(fields["tail_" .. index], tvb(field_offset, 4), value)
|
||||
end
|
||||
|
||||
subtree:add(fields.trailer, tvb(frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH), trailer)
|
||||
|
||||
if header ~= HEADER_MAGIC then
|
||||
add_error(subtree, tvb(frame_offset, HEADER_LENGTH), fields.expert_bad_magic, "帧头不是 doz")
|
||||
end
|
||||
|
||||
if trailer ~= TRAILER_MAGIC then
|
||||
add_error(subtree, tvb(frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH), fields.expert_bad_magic, "帧尾不是 zod")
|
||||
end
|
||||
|
||||
if declared_length ~= FRAME_LENGTH then
|
||||
add_error(subtree, tvb(frame_offset + LENGTH_OFFSET, 4), fields.expert_bad_length, "长度字段不是 90")
|
||||
end
|
||||
|
||||
local summary = string.format(
|
||||
"MsgId=%u X=%.3f Y=%.3f Z=%.3f J1=%.6f rad / %.3f deg J2=%.6f rad / %.3f deg Tail=[%u,%u,%u,%u]",
|
||||
message_id,
|
||||
pose_values[1], pose_values[2], pose_values[3],
|
||||
joint_values[1], radians_to_degrees(joint_values[1]),
|
||||
joint_values[2], radians_to_degrees(joint_values[2]),
|
||||
tail_values[1], tail_values[2], tail_values[3], tail_values[4])
|
||||
|
||||
subtree:set_text("FANUC 10010 状态帧, " .. summary)
|
||||
pinfo.cols.info:append(" | " .. summary)
|
||||
|
||||
return FRAME_LENGTH
|
||||
end
|
||||
|
||||
function fanuc10010_proto.dissector(tvb, pinfo, tree)
|
||||
if tvb:len() == 0 then
|
||||
return 0
|
||||
end
|
||||
|
||||
pinfo.cols.protocol = "FANUC10010"
|
||||
|
||||
local offset = 0
|
||||
while offset < tvb:len() do
|
||||
local consumed = dissect_single_frame(tvb, pinfo, tree, offset)
|
||||
if consumed <= 0 then
|
||||
break
|
||||
end
|
||||
|
||||
offset = offset + consumed
|
||||
if consumed < FRAME_LENGTH then
|
||||
break
|
||||
end
|
||||
end
|
||||
|
||||
return tvb:len()
|
||||
end
|
||||
|
||||
DissectorTable.get("tcp.port"):add(10010, fanuc10010_proto)
|
||||
7
analysis/segment_02_acc_jerk_summary.csv
Normal file
7
analysis/segment_02_acc_jerk_summary.csv
Normal file
@@ -0,0 +1,7 @@
|
||||
Axis,AccPeakRadPerS2,AccLimitRadPerS2,AccRatio,AccWindowStartS,AccWindowEndS,AccLine,JerkPeakRadPerS3,JerkLimitRadPerS3,JerkRatio,JerkWindowStartS,JerkWindowEndS,JerkLine
|
||||
Joint1,16.638678,26.900000,0.618538,0.128012,0.135939,18,902.687973,224.220000,4.025903,6.312082,6.320127,791
|
||||
Joint2,14.521836,22.540000,0.644270,3.088013,3.096086,388,888.335197,187.860000,4.728709,2.904052,2.912069,365
|
||||
Joint3,14.267221,29.810000,0.478605,0.128012,0.135939,18,728.505873,248.460000,2.932085,0.135939,0.143989,19
|
||||
Joint4,-34.694506,39.990000,0.867580,6.832125,6.840105,856,-2222.596524,333.300000,6.668456,6.312082,6.320127,791
|
||||
Joint5,-16.329775,39.630000,0.412056,6.840105,6.848111,857,842.738923,330.270000,2.551667,6.936077,6.944096,869
|
||||
Joint6,34.766065,72.720000,0.478081,1.392021,1.399995,176,2678.050822,606.010000,4.419153,6.312082,6.320127,791
|
||||
|
@@ -123,6 +123,7 @@
|
||||
- 先做兼容测试矩阵，再补最小命令桩
|
||||
- 区分“旧系统事实”和“replacement 当前策略”
|
||||
- 真机未接通前，允许实现层返回稳定错误或模拟状态，但不能反过来污染逆向文档
|
||||
- `50001/TCP+JSON` 抓包已经覆盖 `SetSpeedRatio` 与 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)`，请求中没有显式 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk` 字段；因此规划限制的补齐必须作为 replacement-only 策略记录，不能写成旧公开 API 合同。
|
||||
|
||||
## 8. 当前 replacement 实现状态
|
||||
|
||||
@@ -131,10 +132,12 @@
|
||||
- `Flyshot.ControllerClientCompat` 继续作为 HTTP 控制器后端兼容服务，不启动 `50001/TCP+JSON` 监听。
|
||||
- `ExecuteTrajectory` 会先通过 `ICspPlanner` 规划普通轨迹，再把 `TrajectoryResult` 和最终关节位置交给 `IControllerRuntime`。
|
||||
- `ExecuteFlyShotTraj` 会从上传轨迹目录取出轨迹，通过 `SelfAdaptIcspPlanner` 规划并用 `ShotTimelineBuilder` 生成 `ShotEvent` / `TrajectoryDoEvent`。
|
||||
- HTTP 控制器已经按公开文档补齐 `ExecuteTrajectory(method, save_traj)` 与 `ExecuteFlyShotTraj(move_to_start, method, save_traj, use_cache)` 参数，并继续兼容旧的裸 waypoint 数组和只传 `name` 的请求体。
|
||||
- HTTP 控制器已经按公开文档和抓包补齐 `ExecuteTrajectory(method, save_traj)` 与 `ExecuteFlyShotTraj(move_to_start, method, save_traj, use_cache, wait)` 参数，并继续兼容旧的裸 waypoint 数组和只传 `name` 的请求体。
|
||||
- 规划阶段会继续消费旧配置中的 `acc_limit / jerk_limit`。如果现场需要复现旧服务端不可见的保守约束，replacement 设计上使用内部 `planning_acceleration_scale` 限制规划加速度；该字段不属于旧 `ControllerClient` 公开 API，也不会通过 `50001` JSON 下发。
|
||||
- `method="icsp"` 与 `method="self-adapt-icsp"` 已接入当前规划器；`method="doubles"` 会被识别但返回显式未实现，不会静默降级成 ICSP。
|
||||
- `Flyshot.Runtime.Fanuc.Protocol` 已经固化 `10010` 状态帧、`10012` 命令帧和 `60015` J519 数据包的基础编解码，并使用逆向抓包样本覆盖最小测试。
|
||||
- `Flyshot.Runtime.Fanuc` 当前只保存连接、使能、速度、IO、TCP、关节位置和执行结果状态；真实 `10010 / 10012 / 60015` Socket 通讯与现场联调尚未落地。
|
||||
- `Flyshot.Runtime.Fanuc.Protocol` 已经固化 `10010` 状态帧、`10012` 命令帧和 `60015` J519 数据包的基础编解码，并使用逆向抓包样本覆盖最小测试；`10010` 当前现场确认固定 90B。
|
||||
- `Flyshot.Runtime.Fanuc` 已具备基础 Socket 客户端、程序启停、速度倍率/TCP/IO 参数命令和 J519 状态包驱动发送链路；稠密轨迹下发已按 `speed_ratio` 推进轨迹时间，并在收到机器人 UDP status 后按该 status sequence 回发命令。真实 R30iB 全流程现场联调仍需执行。
|
||||
- 2026-04-28 `UTTC_MS11` 抓包确认 J519 命令目标为 `deg`、导出 `JointDetialTraj.txt` 为 `rad`，`speed_ratio=0.5/0.7/1.0` 分别形成 `1851/1322/926` 个主运行 J519 包；实际执行不发送 464 行导出点，而是在 8ms 实发周期上按 `t_traj = t_send * speed_ratio` 采样，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
|
||||
- 宿主已经提供只读 Web 状态页 `/status` 和状态快照 API `/api/status/snapshot`，用于查看兼容层初始化、机器人元数据和运行时快照。
|
||||
- `MoveJoint` 仍保持旧兼容语义中的直接运动接口，但状态写入已经统一经过运行时，而不是由兼容服务自己维护关节数组。
|
||||
- `GetNearestIK`、`SetUpRobotFromEnv` 当前已经暴露完整参数形状，但后端求解器 / 环境文件解析仍返回显式未实现。
|
||||
|
||||
@@ -515,6 +515,7 @@ UploadFlyShotTraj(name, waypoints, shot_flags, offset_values, addrs)
|
||||
- `SetSpeedRatio`：`MsgID = 0x2207`
|
||||
- `GetIO`：`MsgID = 0x2208`
|
||||
- `SetIO`：`MsgID = 0x2209`
|
||||
- 2026-04-28 `UTTC_MS11` 抓包中，`speed_ratio=0.7` 的效果能从 UDP 60015 主运行段时间尺度反推出来，但机器人侧 `TCP 10012` 未出现 `0x2207 SetSpeedRatio`；兼容实现不能只依赖一次 10012 命令来表达执行倍率，还要在 J519 发送时间轴上应用当前倍率。J519 实发时间为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio`，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
|
||||
- 飞拍轨迹相关额外字符串线索：
|
||||
- `StartUploadFlyShotTraj`
|
||||
- `EndUploadFlyShotTraj`
|
||||
|
||||
165
docs/fanuc-10010-state-frame.md
Normal file
165
docs/fanuc-10010-state-frame.md
Normal file
@@ -0,0 +1,165 @@
|
||||
# FANUC TCP 10010 状态帧字段说明
|
||||
|
||||
本文档整理当前现场真实抓包中 `TCP 10010` 状态通道的已确认字段布局，并明确哪些结论已经由抓包和代码验证，哪些仍然只是工作假设。
|
||||
|
||||
读取时间：2026-05-03
|
||||
|
||||
## 1. 结论范围
|
||||
|
||||
本文基于以下证据整理：
|
||||
|
||||
- `../analysis/UTTC_20260428_packet_validation.md`
|
||||
- `../analysis/J519_stream_motion_analysis.md`
|
||||
- `Rvbust/uttc-20260428/20260428.pcap`
|
||||
- `src/Flyshot.Runtime.Fanuc/Protocol/FanucStateProtocol.cs`
|
||||
- `tests/Flyshot.Core.Tests/FanucProtocolTests.cs`
|
||||
|
||||
当前结论仅覆盖现场已确认的 `R30iB + RVBUSTSM` 这一路状态通道行为，不提前推广为所有 FANUC 机型或所有旧版本协议的通用结论。
|
||||
|
||||
## 2. 通道性质
|
||||
|
||||
真实抓包显示，`TCP 10010` 是控制柜到上位机的单向状态流：
|
||||
|
||||
- 上位机先主动建立 TCP 连接。
|
||||
- 建连后，带应用层 payload 的业务包全部来自 `192.168.10.11:10010 -> 192.168.10.10:41726`。
|
||||
- 上位机在该通道上只回 TCP `ACK`，没有观察到应用层请求体。
|
||||
|
||||
因此当前实现应把 `10010` 当作“持续推送的固定长度状态帧”处理，而不是像 `TCP 10012` 那样按请求/响应语义建模。
|
||||
|
||||
## 3. 整体布局
|
||||
|
||||
当前现场抓包确认，状态帧固定为 `90B`：
|
||||
|
||||
```text
|
||||
doz 3 bytes
|
||||
length u32 = 90
|
||||
msg_id u32
|
||||
pose[6] f32
|
||||
joint_or_ext[9] f32
|
||||
tail[4] u32
|
||||
zod 3 bytes
|
||||
```
|
||||
|
||||
其中：
|
||||
|
||||
- 帧头 magic 固定为 `doz`
|
||||
- 帧尾 magic 固定为 `zod`
|
||||
- 长度字段固定为 `0x5a`，即 `90`
|
||||
- 当前全量抓包中 `msg_id` 恒为 `0`
|
||||
- `tail[4]` 当前全量抓包中恒为 `(2, 0, 0, 1)`
|
||||
|
||||
## 4. 样例帧
|
||||
|
||||
以下样例帧来自 `20260428.pcap` 中首条 `tcp.port == 10010 && tcp.len > 0` 的 payload：
|
||||
|
||||
```text
|
||||
646f7a0000005a000000004388a23243f1ed7f43e9de6bc265031ec2b33cc3c278e0153f8742f53c3f128dbc929529bc7861d63cb0184c3c1ca1a7000000000000000000000000000000020000000000000000000000017a6f64
|
||||
```
|
||||
|
||||
对应解析值：
|
||||
|
||||
- `pose[6]`
|
||||
- `273.26715`
|
||||
- `483.85544`
|
||||
- `467.73764`
|
||||
- `-57.253044`
|
||||
- `-89.618675`
|
||||
- `-62.21883`
|
||||
- `joint_or_ext[9]`
|
||||
- `1.0567309`
|
||||
- `0.011662138`
|
||||
- `-0.01789339`
|
||||
- `-0.015160045`
|
||||
- `0.02149596`
|
||||
- `0.009560025`
|
||||
- `0`
|
||||
- `0`
|
||||
- `0`
|
||||
- `tail[4]`
|
||||
- `2`
|
||||
- `0`
|
||||
- `0`
|
||||
- `1`
|
||||
|
||||
## 5. 正式字段表
|
||||
|
||||
| 偏移 | 长度 | 类型 | 样例值(hex) | 样例值(解析后) | 当前推断含义 |
|
||||
| --- | --- | --- | --- | --- | --- |
|
||||
| `0x00` | `3` | `char[3]` | `64 6f 7a` | `"doz"` | 固定帧头 magic |
|
||||
| `0x03` | `4` | `u32 be` | `00 00 00 5a` | `90` | 帧总长度 |
|
||||
| `0x07` | `4` | `u32 be` | `00 00 00 00` | `0` | `msg_id`，当前抓包全为 `0` |
|
||||
| `0x0B` | `4` | `f32 be` | `43 88 a2 32` | `273.26715` | `pose[0]`，推断为 TCP `X(mm)` |
|
||||
| `0x0F` | `4` | `f32 be` | `43 f1 ed 7f` | `483.85544` | `pose[1]`，推断为 TCP `Y(mm)` |
|
||||
| `0x13` | `4` | `f32 be` | `43 e9 de 6b` | `467.73764` | `pose[2]`，推断为 TCP `Z(mm)` |
|
||||
| `0x17` | `4` | `f32 be` | `c2 65 03 1e` | `-57.253044` | `pose[3]`，推断为姿态角 `W(deg)` |
|
||||
| `0x1B` | `4` | `f32 be` | `c2 b3 3c c3` | `-89.618675` | `pose[4]`，推断为姿态角 `P(deg)` |
|
||||
| `0x1F` | `4` | `f32 be` | `c2 78 e0 15` | `-62.21883` | `pose[5]`，推断为姿态角 `R(deg)` |
|
||||
| `0x23` | `4` | `f32 be` | `3f 87 42 f5` | `1.0567309` | `joint_or_ext[0]`，推断为 `J1(rad)` |
|
||||
| `0x27` | `4` | `f32 be` | `3c 3f 12 8d` | `0.011662138` | `joint_or_ext[1]`，推断为 `J2(rad)` |
|
||||
| `0x2B` | `4` | `f32 be` | `bc 92 95 29` | `-0.01789339` | `joint_or_ext[2]`，推断为 `J3(rad)` |
|
||||
| `0x2F` | `4` | `f32 be` | `bc 78 61 d6` | `-0.015160045` | `joint_or_ext[3]`，推断为 `J4(rad)` |
|
||||
| `0x33` | `4` | `f32 be` | `3c b0 18 4c` | `0.02149596` | `joint_or_ext[4]`，推断为 `J5(rad)` |
|
||||
| `0x37` | `4` | `f32 be` | `3c 1c a1 a7` | `0.009560025` | `joint_or_ext[5]`，推断为 `J6(rad)` |
|
||||
| `0x3B` | `4` | `f32 be` | `00 00 00 00` | `0` | `joint_or_ext[6]`，扩展轴槽位，当前样本恒 `0` |
|
||||
| `0x3F` | `4` | `f32 be` | `00 00 00 00` | `0` | `joint_or_ext[7]`，扩展轴槽位，当前样本恒 `0` |
|
||||
| `0x43` | `4` | `f32 be` | `00 00 00 00` | `0` | `joint_or_ext[8]`，扩展轴槽位，当前样本恒 `0` |
|
||||
| `0x47` | `4` | `u32 be` | `00 00 00 02` | `2` | `tail[0]`，诊断状态字，物理语义未坐实 |
|
||||
| `0x4B` | `4` | `u32 be` | `00 00 00 00` | `0` | `tail[1]`，诊断状态字，物理语义未坐实 |
|
||||
| `0x4F` | `4` | `u32 be` | `00 00 00 00` | `0` | `tail[2]`，诊断状态字，物理语义未坐实 |
|
||||
| `0x53` | `4` | `u32 be` | `00 00 00 01` | `1` | `tail[3]`，诊断状态字，物理语义未坐实 |
|
||||
| `0x57` | `3` | `char[3]` | `7a 6f 64` | `"zod"` | 固定帧尾 magic |
|
||||
|
||||
## 6. 已确认结论
|
||||
|
||||
### 6.1 已由真实抓包确认
|
||||
|
||||
1. `TCP 10010` 是独立状态流，不是 `TCP 10012` 的请求/响应复用。
|
||||
2. 当前现场状态帧固定为 `90B`，不是早期静态分析里出现过的 `134B`。
|
||||
3. `msg_id` 在 `20260428.pcap` 当前全量样本中恒为 `0`。
|
||||
4. `tail[4]` 在 `20260428.pcap` 当前全量样本中恒为 `(2, 0, 0, 1)`。
|
||||
5. `pose[6]` 的量纲表现符合 `X/Y/Z(mm) + W/P/R(deg)`。
|
||||
6. `joint_or_ext[6..8]` 在当前现场样本中恒为 `0`。
|
||||
|
||||
### 6.2 已由数值范围和交叉对照强支持
|
||||
|
||||
1. `joint_or_ext[0..5]` 更像关节角 `rad`，而不是 `deg`。
|
||||
2. 该判断与 `../analysis/UTTC_20260428_packet_validation.md` 的结论一致。
|
||||
3. 该判断也与 `UDP 60015` 响应包中的关节 `deg` 形成互补关系：二者不能简单视作同单位直接复用。
|
||||
|
||||
## 7. 待确认项
|
||||
|
||||
以下内容当前不要写死为最终协议真义：
|
||||
|
||||
1. `tail[4]` 四个 `u32` 分别代表什么控制器语义。
|
||||
2. `msg_id` 是否在其他控制柜版本、程序状态或异常态下会出现非零值。
|
||||
3. `pose[3..5]` 是否可以严格命名为 FANUC 标准 `W/P/R`，还是只是与其数值表现一致。
|
||||
4. `joint_or_ext[6..8]` 在带外部轴的现场是否仍复用同一布局。
|
||||
|
||||
## 8. 与当前代码实现的对齐情况
|
||||
|
||||
当前仓库里 `Flyshot.Runtime.Fanuc` 已按 `90B` 固定帧解析：
|
||||
|
||||
- `src/Flyshot.Runtime.Fanuc/Protocol/FanucStateProtocol.cs`
|
||||
- `tests/Flyshot.Core.Tests/FanucProtocolTests.cs`
|
||||
|
||||
当前实现已经与抓包对齐的部分：
|
||||
|
||||
1. 固定长度 `90B`
|
||||
2. `doz ... zod` 帧头帧尾校验
|
||||
3. `pose[6] + joint_or_ext[9] + tail[4]` 的字节布局
|
||||
4. `tail[4]` 原样保留到 `ControllerStateSnapshot.StateTailWords`
|
||||
|
||||
当前仍建议后续关注的点：
|
||||
|
||||
1. `FanucStateFrame` 已把该字段从 `JointDegrees` 更正为 `JointRadians`，后续新增代码应继续沿用弧度制命名。
|
||||
2. 如果后续状态页或运行时逻辑需要直接展示该通道关节值，仍需明确标注这是 `10010` 的弧度值，避免和 `UDP 60015` 的 degree 语义混淆。
|
||||
|
||||
## 9. 建议用法
|
||||
|
||||
在当前 replacement 实现里，`TCP 10010` 更适合作为以下用途：
|
||||
|
||||
1. 提供机器人当前笛卡尔位姿和关节反馈快照。
|
||||
2. 提供状态通道是否健康、是否陈旧的连接诊断依据。
|
||||
3. 保留 `tail[4]` 原始状态字，供现场排错或后续继续逆向。
|
||||
|
||||
当前不建议直接用 `tail[4]` 去驱动明确业务判断，除非后续拿到新的现场对照证据。
|
||||
182
docs/fanuc-field-runtime-workflow.md
Normal file
182
docs/fanuc-field-runtime-workflow.md
Normal file
@@ -0,0 +1,182 @@
|
||||
# FANUC Field Runtime Workflow
|
||||
|
||||
本文档记录当前现场主链路的 HTTP 调用顺序，以及每一步在 FANUC 三条真机通道上的动作。它替代旧 `ControllerClient` 工作流说明；旧 `50001/TCP+JSON` 入口不再作为运行目标。
|
||||
|
||||
## 1. 初始化
|
||||
|
||||
推荐使用聚合端点完成当前现场的一次性初始化：
|
||||
|
||||
```bash
|
||||
POST /init_mpc_robt
|
||||
{
|
||||
"server_ip": "127.0.0.1",
|
||||
"port": 50001,
|
||||
"robot_name": "FANUC_LR_Mate_200iD",
|
||||
"robot_ip": "192.168.10.11",
|
||||
"sim": false
|
||||
}
|
||||
```
|
||||
|
||||
该端点内部顺序：
|
||||
|
||||
1. `ConnectServer(server_ip, port)`：兼容旧参数形状，仅记录服务连接语义。
|
||||
2. `SetUpRobot(robot_name)`：加载机器人配置、关节限制和伺服周期。
|
||||
3. `SetActiveController(sim)`：选择仿真或 FANUC 真机运行时。
|
||||
4. `Connect(robot_ip)`：真机模式下依次建立 `TCP 10010` 状态通道、`TCP 10012` 命令通道、`UDP 60015` J519 运动通道。
|
||||
5. `EnableRobot(2)`：真机模式下执行 `StopProg("RVBUSTSM") -> Reset -> GetProgStatus("RVBUSTSM") -> StartProg("RVBUSTSM")`，随后允许 J519 在收到机器人 UDP status 包后回发下一帧命令。
|
||||
|
||||
也可以使用拆分端点按同样顺序调用：
|
||||
|
||||
```text
|
||||
POST /connect_server/?server_ip=127.0.0.1&port=50001
|
||||
POST /setup_robot/?robot_name=FANUC_LR_Mate_200iD
|
||||
POST /set_active_controller/?sim=false
|
||||
POST /connect_robot/?ip=192.168.10.11
|
||||
GET /enable_robot/?buffer_size=2
|
||||
```
|
||||
|
||||
## 2. 参数设置
|
||||
|
||||
规划约束参数：
|
||||
|
||||
当前现场抓包已经确认，`50001/TCP+JSON` 的 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 请求不会显式携带 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此新系统把规划约束分成两层处理：
|
||||
|
||||
1. 旧 `RobotConfig.json` 中已有的 `acc_limit / jerk_limit` 继续作为模型加载时的基础倍率。
|
||||
2. 若旧系统导出的 `JointTraj.txt` 明显比当前 C# 规划更慢，使用 replacement-only 的内部校准参数限制规划阶段加速度，设计字段为 `planning_acceleration_scale`。
|
||||
|
||||
`planning_acceleration_scale` 只影响 `JointTraj.txt` 这类规划结果时间轴，不下发到 FANUC 控制柜，也不改变 J519 发送周期。若需要临时整体验证，也可以使用当前已有的 `planning_speed_scale`，但它是新系统兼容开关，不是旧抓包中出现的字段。
|
||||
|
||||
速度倍率：
|
||||
|
||||
```bash
|
||||
POST /set_speedRatio/
|
||||
{ "speed": 0.7 }
|
||||
```
|
||||
|
||||
真机模式下会通过 `TCP 10012` 下发 `0x2207 SetSpeedRatio`，同时运行时保存当前倍率。`speed_ratio` 是执行期倍率，不参与 `IsFlyShotTrajValid` / `SaveTrajInfo` / `ExecuteFlyShotTraj(save_traj=true)` 的规划时长计算。J519 执行时仍按机器人 8ms 节拍更新目标，`speed_ratio` 只缩放原轨迹采样时间：
|
||||
|
||||
```text
|
||||
t_send = k * 0.008
|
||||
t_traj = t_send * speed_ratio
|
||||
send_count = floor(duration / (0.008 * speed_ratio)) + 1
|
||||
```
|
||||
|
||||
TCP 和普通 IO：
|
||||
|
||||
```text
|
||||
POST /set_tcp/ body: { "x": 0, "y": 0, "z": 0 }
|
||||
GET /get_tcp/
|
||||
POST /set_io/?port=7&value=true&io_type=DO
|
||||
GET /get_io/?port=7&io_type=DO
|
||||
```
|
||||
|
||||
飞拍触发 IO 不走独立 `TCP 10012 SetIO`，而是嵌入 `UDP 60015` J519 命令包的 `write_io_type/index/mask/value` 字段。
|
||||
|
||||
## 3. 点到点 MoveJoint
|
||||
|
||||
```bash
|
||||
POST /move_joint/
|
||||
{ "joints": [0.8532358, 0.03837953, -0.19235304, 0.0071595116, 0.109054826, 0.040055145] }
|
||||
```
|
||||
|
||||
`MoveJoint` 不再直接把最终关节写成单个 J519 目标，而是按现场抓包确认的 PTP 临时轨迹执行：
|
||||
|
||||
1. 从当前运行时状态读取当前关节坐标，单位为 `rad`。
|
||||
2. 以当前关节和目标关节构造关节空间直线。
|
||||
3. 用五次 smoothstep `10u^3 - 15u^4 + 6u^5` 生成起停平滑的进度。
|
||||
4. 真机执行时仍由 J519 层把 `rad` 转成 `deg`，并按当前 `speed_ratio` 重采样。
|
||||
|
||||
已确认抓包按响应 `status=15` 运动窗口统计：
|
||||
|
||||
| 抓包 | speed_ratio | 运动窗口点数 | 运动窗口时长 |
|
||||
|------|-------------|----------------------|----------|
|
||||
| `2026042802-mvpoint.pcap` | 1.0 | 40 | 约 0.312s |
|
||||
| `2026042802-mvpoint0.7.pcap` | 0.7 | 55 | 约 0.432s |
|
||||
| `2026042802-mvpoint0.5.pcap` | 0.5 | 77 | 约 0.608s |
|
||||
|
||||
抓包命令流在运动窗口前后还会持续发送保持不变的起点/终点目标；功能复刻以 `status=15` 运动窗口为点数口径，并把最后一个采样点压到目标关节。实际目标几乎严格位于“起点 -> 终点”的同一条关节空间直线上，`speed_ratio` 体现为 J519 发送时间轴上的减速重采样，而不是改变路径形状。
|
||||
|
||||
## 4. 飞拍轨迹
|
||||
|
||||
上传：
|
||||
|
||||
```bash
|
||||
POST /upload_flyshot/
|
||||
{
|
||||
"name": "UTTC_MS11",
|
||||
"waypoints": [[...]],
|
||||
"shot_flags": [false, true],
|
||||
"offset_values": [0, 0],
|
||||
"addrs": [[1, 3]]
|
||||
}
|
||||
```
|
||||
|
||||
校验：
|
||||
|
||||
```bash
|
||||
POST /is_flyShotTrajValid/
|
||||
{
|
||||
"name": "UTTC_MS11",
|
||||
"method": "self-adapt-icsp",
|
||||
"save_traj": false
|
||||
}
|
||||
```
|
||||
|
||||
执行：
|
||||
|
||||
```bash
|
||||
POST /execute_flyshot/
|
||||
{
|
||||
"name": "UTTC_MS11",
|
||||
"move_to_start": true,
|
||||
"method": "self-adapt-icsp",
|
||||
"save_traj": false,
|
||||
"use_cache": true,
|
||||
"wait": true
|
||||
}
|
||||
```
|
||||
|
||||
执行链路：
|
||||
|
||||
1. 从上传缓存读取 waypoint、shot flag、offset、IO 地址组。
|
||||
2. 使用 `icsp` 或 `self-adapt-icsp` 规划关节轨迹；规划阶段先应用 `acc_limit / jerk_limit`，再应用 replacement-only 的规划加速度校准参数。
|
||||
3. 生成 `TrajectoryDoEvent`，把拍照触发绑定到轨迹时间。
|
||||
4. 若 `move_to_start=true`，先从运行时当前关节位置生成临时 PTP 稠密轨迹移动到规划轨迹起点，并等待运行时 `IsInMotion=false` 后再启动飞拍轨迹，避免第一帧 J519 目标从当前位置跳到起点。
|
||||
5. 真机模式下把规划输出的 `rad` 稠密轨迹按 J519 轨迹时间步长重采样并转成 `deg`，命令实际发包由机器人 UDP status 包驱动。
|
||||
6. 若 `wait=true`，正式飞拍轨迹启动后继续等待运行时 `IsInMotion=false`，机器人执行完整条飞拍轨迹后 HTTP 才返回；`wait=false` 时启动后立即返回。
|
||||
7. 启动前若已有 J519 响应且 `accept_cmd` 或 `sysrdy` 未就绪，则拒绝执行。
|
||||
8. 周期命令中嵌入 IO 脉冲；当前 UTTC 抓包确认 mask 集合为 `10/12/14`，共 17 个 set 脉冲和 17 个 clear 帧。
|
||||
|
||||
`method="doubles"` 当前明确返回未实现；现场主链路使用 `icsp` / `self-adapt-icsp`。
|
||||
|
||||
## 5. 停止与断开
|
||||
|
||||
```text
|
||||
GET /stop_move/
|
||||
GET /disable_robot/
|
||||
POST /disconnect_robot/
|
||||
```
|
||||
|
||||
真机模式下：
|
||||
|
||||
- `StopMove()` 取消当前稠密轨迹生成任务并停止 J519 状态包驱动发送。
|
||||
- `DisableRobot()` 发送 J519 packet type 2 状态输出停止包，然后 `StopProg("RVBUSTSM")`。
|
||||
- `Disconnect()` 关闭状态、命令和 J519 三条通道，并清理本地运行状态。
|
||||
|
||||
## 6. 现场抓包覆盖
|
||||
|
||||
`tests/Flyshot.Core.Tests/UttcJ519GoldenTests.cs` 直接解析以下抓包并与 `Rvbust/uttc-20260428/Data/JointDetialTraj.txt` 对比：
|
||||
|
||||
| 抓包 | 速度 | 运行 J519 点数 | 发送时长 |
|
||||
|------|------|----------------|----------|
|
||||
| `2026042802-0.5.pcap` | 0.5 | 1851 | 14.800309s |
|
||||
| `2026042802-0.7.pcap` | 0.7 | 1322 | 10.568313s |
|
||||
| `2026042802-1.pcap` | 1.0 | 926 | 7.400125s |
|
||||
|
||||
测试同时检查：
|
||||
|
||||
- 主运行窗口命令序号连续，无重复 seq；J519 客户端单元测试覆盖按最新 status sequence 回发命令。
|
||||
- 响应 `status=15` 段覆盖主运行窗口，响应相对命令滞后 2 到 8 帧。
|
||||
- 实发点位相对重采样期望的全局 RMS 小于 `0.012deg`，最大绝对误差小于 `0.07deg`。
|
||||
- `lastData=0`，结束运动当前依赖 J519 packet type 2 状态输出停止包；`../j519 协议.pcap` 中另有 1 个 `LastData=1` 后紧跟 type 2 的样本，停止语义后续单独验证。
|
||||
- IO 脉冲数量和 mask 集合 `10/12/14` 与抓包一致。
|
||||
@@ -2,14 +2,23 @@
|
||||
|
||||
## 上下文
|
||||
|
||||
当前 `flyshot-replacement` 项目已完成：
|
||||
状态更新：本计划中的 Socket 客户端和 `FanucControllerRuntime` 改造已经落地；当前事实以 `README.md` 和 `docs/fanuc-field-runtime-workflow.md` 为准。本文保留为实现过程记录。
|
||||
|
||||
计划制定时 `flyshot-replacement` 项目已完成：
|
||||
- 三条 FANUC 通信链路的二进制协议编解码（`FanucCommandProtocol`、`FanucStateProtocol`、`FanucJ519Protocol`）
|
||||
- 抓包样本验证的协议测试（5 个 FanucProtocolTests 全部通过）
|
||||
- TCP 10012 的 `Get/SetSpeedRatio`、`Get/SetTCP`、`Get/SetIO` 参数命令封包、响应解析和本地模拟器测试
|
||||
- HTTP 兼容层控制器和状态监控页
|
||||
- 轨迹规划与飞拍触发编排层
|
||||
|
||||
**缺失的关键环节**：`FanucControllerRuntime` 仍是纯内存状态桩，没有实际 Socket 通信。`Connect()` 只记录 IP，`ExecuteTrajectory()` 只修改内存变量，`GetJointPositions()` 返回的是上一次写入值而非真实控制器反馈。
|
||||
2026-04-28 `Rvbust/uttc-20260428/20260428.pcap` 新增约束：
|
||||
|
||||
- `TCP 10010` 状态帧继续确认为固定 `90B`。
|
||||
- `UDP 60015` 命令 `target[0..5]` 为关节角 `deg`，而 `JointDetialTraj.txt` 为 `rad`。
|
||||
- `speed_ratio=0.7` 在本抓包中表现为 UDP 下发时间轴约 `1.427730x` 拉伸；机器人侧 `TCP 10012` 未抓到 `0x2207 SetSpeedRatio`。
|
||||
- `UTTC_MS11` 的 17 个飞拍触发点与 17 个 UDP IO 脉冲一一对齐，`io_keep_cycles=2` 对应约两周期清零。
|
||||
|
||||
**历史缺失项（已完成）**：计划制定时 `FanucControllerRuntime` 仍是纯内存状态桩。当前实现已经改为持有 `FanucCommandClient`、`FanucStateClient` 和 `FanucJ519Client`，真机模式会建立三条通道并从状态/J519 响应读取运行状态。
|
||||
|
||||
## 目标
|
||||
|
||||
@@ -66,7 +75,7 @@ FanucCommandProtocol / FanucStateProtocol / FanucJ519Protocol (已有，不改
|
||||
- `GetProgramStatusAsync(string name)` → `PackProgramCommand(0x2003, name)`
|
||||
- `StartProgramAsync(string name)` → `PackProgramCommand(0x2102, name)`
|
||||
- `GetTcpAsync()` / `SetTcpAsync()` — 已按 `tcp_id + f32[7] pose` 字段布局实现
|
||||
- `GetSpeedRatioAsync()` / `SetSpeedRatioAsync()` — 已按 `ratio_int / 100.0` 与 `ratio_int_0_100` 字段布局实现
|
||||
- `GetSpeedRatioAsync()` / `SetSpeedRatioAsync()` — 已按 `ratio_int / 100.0` 与 `ratio_int_0_100` 字段布局实现；注意 2026-04-28 真实运行抓包未出现机器人侧 `0x2207`，执行链路仍必须在 UDP 发送时间尺度上应用当前速度倍率
|
||||
- `GetIoAsync()` / `SetIoAsync()` — 已按 `io_type / io_index / f32 io_value` 字段布局实现
|
||||
|
||||
**测试**：`tests/Flyshot.Core.Tests/FanucCommandClientTests.cs`
|
||||
@@ -91,6 +100,7 @@ FanucCommandProtocol / FanucStateProtocol / FanucJ519Protocol (已有，不改
|
||||
- 用 `TcpListener` 本地发送抓包样本 hex，验证后台循环能正确解析。
|
||||
- 用本地模拟控制器验证无状态帧超时、EOF 后退避重连和重连后的继续收帧。
|
||||
- `FanucStateProtocol` 已用 `j519 协议.pcap` 中多条 90B 样本锁定 `pose[6]`、`joint[6]`、`external_axes[3]` 和 `raw_tail_words[4]`。
|
||||
- `Rvbust/uttc-20260428/20260428.pcap` 再次确认 `10010` 状态帧固定 90B，平均间隔约 25.6ms。
|
||||
- 尾部状态字当前只作为 `ControllerStateSnapshot.stateTailWords` 诊断字段保留，不从 `[2,0,0,1]` 推断使能或运动状态。
|
||||
|
||||
### Phase 3: UDP 60015 J519 运动客户端
|
||||
@@ -107,6 +117,14 @@ FanucCommandProtocol / FanucStateProtocol / FanucJ519Protocol (已有，不改
|
||||
- 接收线程：持续 `ReceiveAsync()` 解析 132B 响应，更新反馈状态
|
||||
- `Disconnect()` — 清理
|
||||
|
||||
执行注意事项：
|
||||
|
||||
- 规划层输出关节角为 `rad`，J519 命令 `target[0..5]` 必须转为 `deg`。
|
||||
- 发送循环不能只按 `JointDetialTraj` 行号逐行发；需要保持约 8ms 的 J519 实发周期，同时按当前 `speed_ratio` 对原轨迹时间轴做缩放。
|
||||
- 实发规则：第 `k` 个 J519 周期的发送时间为 `t_send = k * 0.008`，轨迹采样时间为 `t_traj = t_send * speed_ratio`，命令包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。`UTTC_MS11` 中 `7.403046 / (0.008 * 0.7) = 1321.9725`，因此主运行实发 `1322` 个运行包，而不是 `JointDetialTraj.txt` 的 `464` 行。
|
||||
- 飞拍 IO 事件应嵌入 `write_io_type/index/mask/value`，不要用独立 `TCP 10012 SetIO` 模拟拍照触发。
|
||||
- 响应 `joints_deg` 相对命令目标存在约 7 帧 / 56ms 滞后，闭环判断要容忍该延迟。
|
||||
|
||||
**测试**：`tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs`
|
||||
- 用本地 UDP socket 模拟控制器收发
|
||||
|
||||
@@ -121,7 +139,7 @@ FanucCommandProtocol / FanucStateProtocol / FanucJ519Protocol (已有，不改
|
||||
- `EnableRobot(bufferSize)` — 走完整 StartProg 序列（Stop→Reset→Status→Start RVBUSTSM），然后启动 J519
|
||||
- `DisableRobot()` — 停止 J519，发送 StopProg
|
||||
- `Disconnect()` — 断开三条通道
|
||||
- `ExecuteTrajectory(result, finalJointPositions)` — 将规划后的稠密路点通过 J519 逐帧发送
|
||||
- `ExecuteTrajectory(result, finalJointPositions)` — 将规划后的稠密路点经 `rad -> deg` 转换，并按 `t_send = k * 0.008`、`t_traj = t_send * speed_ratio` 重采样后，通过 J519 逐周期发送
|
||||
- `StopMove()` — 立即停止 J519 发送循环
|
||||
- `GetSnapshot()` — 优先从 `FanucStateClient` 读取最新状态；若状态通道未连接，回退到内存值
|
||||
- `GetJointPositions()` / `GetPose()` / `GetTcp()` / `GetSpeedRatio()` / `GetIo()` — 优先从真实通道读取
|
||||
@@ -164,6 +182,6 @@ dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTest
|
||||
|
||||
- `FanucControllerRuntime` 的 `Connect()` 能成功建立三条 TCP/UDP 连接
|
||||
- `EnableRobot()` 能走完 `RVBUSTSM` 启动序列
|
||||
- `ExecuteTrajectory()` 能按 8ms 周期通过 J519 发送路点
|
||||
- `ExecuteTrajectory()` 能按 8ms 周期通过 J519 发送路点，并按当前 `speed_ratio` 推进原始轨迹时间
|
||||
- `GetSnapshot()` 返回的值来自 TCP 10010 真实状态帧而非内存
|
||||
- 现有 10 个集成测试和 25 个核心测试仍然通过
|
||||
|
||||
232
docs/fanuc-stream-motion-manual-notes.md
Normal file
232
docs/fanuc-stream-motion-manual-notes.md
Normal file
@@ -0,0 +1,232 @@
|
||||
# FANUC Stream Motion 文档要点与实现差异
|
||||
|
||||
本文记录 `../FANUC_stream_motion.pdf` 中与本仓库 `Flyshot.Runtime.Fanuc` 直接相关的重点，并对照当前实现状态。
|
||||
|
||||
读取时间：2026-05-03
|
||||
|
||||
## 1. 文档定位
|
||||
|
||||
`FANUC_stream_motion.pdf` 对应 FANUC `Stream motion` 功能，选项号为 `A05B-2600-J519`。它描述的是外部设备通过以太网实时发送期望位置，让机器人按外部生成路径运动的控制方式。
|
||||
|
||||
文档明确要求外部设备自行生成满足机器人约束的路径，包括速度、加速度、jerk、可达性、姿态连续性等。FANUC 不提供完整运动学、逆解和碰撞检测公式。
|
||||
|
||||
## 2. 使用前提与示教程序
|
||||
|
||||
1. 机器人侧需要安装 J519 stream motion 选项。
|
||||
2. 物理网口通过 `$STMO.$PHYS_PORT` 选择，`1` 表示 `CD38A`，`2` 表示 `CD38B`。
|
||||
3. 机器人程序必须包含成对的 `IBGN start[*]` 和 `IBGN end[*]` 指令，二者编号必须一致，`start` 必须在 `end` 前一行。
|
||||
4. `IBGN start[*]` 执行期间，机器人根据外部设备发来的期望位置运动；`IBGN end[*]` 之后程序继续执行。
|
||||
5. 执行时要求 `AUTO` 模式和 `100% OVERRIDE`。
|
||||
|
||||
当前实现中的 `FanucControllerRuntime.EnableRobot()` 会按现场抓包流程启动 `RVBUSTSM` 程序，并随后允许 J519 在收到机器人 UDP status 包后回发命令。是否满足 `AUTO / 100% OVERRIDE / IBGN start` 已到位，当前只通过 J519 状态位和现场程序行为间接判断，没有在代码里读取或设置这些控制器状态。
|
||||
|
||||
## 3. UDP 60015 协议结构
|
||||
|
||||
协议使用 UDP，大端字节序，机器人侧端口为 `60015`。通信周期通常为 `8ms`，部分机型支持 `4ms`。状态包输出可以在任意时间通过 start/stop 控制包启停，不要求已经进入 `IBGN start[*]`。
|
||||
|
||||
### 3.1 状态输出 start 包
|
||||
|
||||
外部设备发给机器人：
|
||||
|
||||
| 字段 | 长度 | 值 |
|
||||
| --- | --- | --- |
|
||||
| Packet type | 4B | `0` |
|
||||
| Version | 4B | `1` |
|
||||
|
||||
当前实现：`FanucJ519Protocol.PackInitPacket()` 已按 8B 大端控制包实现，`FanucJ519Client.ConnectAsync()` 连接后立即发送。
|
||||
|
||||
### 3.2 状态包
|
||||
|
||||
机器人发给外部设备，长度为 `132B`：
|
||||
|
||||
| 偏移 | 字段 | 含义 |
|
||||
| --- | --- | --- |
|
||||
| `0x00` | Packet type | `0` |
|
||||
| `0x04` | Version | `1` |
|
||||
| `0x08` | Sequence No. | 状态包序号，发送 start 包后从 `1` 重新开始 |
|
||||
| `0x0c` | Status | bit0 接受命令、bit1 已收到命令、bit2 SYSRDY、bit3 运动中 |
|
||||
| `0x0d..0x12` | Read I/O 回显和值 | 回显命令包中的读取 IO 类型、索引、掩码，并返回 16 点 IO 值 |
|
||||
| `0x14` | Timestamp | ms 单位，2ms 分辨率 |
|
||||
| `0x18..0x38` | Cartesian / external axis | `X/Y/Z/W/P/R` 加 3 个扩展轴 |
|
||||
| `0x3c..0x5c` | Joint | `J1..J9`，单位 degree |
|
||||
| `0x60..0x80` | Motor current | `J1..J9` 电流，单位 A |
|
||||
|
||||
当前实现：`FanucJ519Protocol.ParseResponse()` 已解析 `132B` 状态包，并暴露 `AcceptsCommand`、`ReceivedCommand`、`SystemReady`、`RobotInMotion` 四个状态位。`FanucControllerRuntime.GetSnapshot()` 也会把最新 J519 状态写进快照。
|
||||
|
||||
### 3.3 命令包
|
||||
|
||||
外部设备发给机器人，长度为 `64B`：
|
||||
|
||||
| 偏移 | 字段 | 含义 |
|
||||
| --- | --- | --- |
|
||||
| `0x00` | Packet type | `1` |
|
||||
| `0x04` | Version | `1` |
|
||||
| `0x08` | Sequence No. | 第一包应等于刚收到的状态包序号，后续逐包递增 |
|
||||
| `0x0c` | Last data | 正常为 `0`；结束外部控制时最后一包设为 `1` |
|
||||
| `0x0d..0x11` | Reading I/O | 可读取最多 16 个连续 IO 点 |
|
||||
| `0x12` | Data format | `0` 笛卡尔，`1` 关节 |
|
||||
| `0x13..0x19` | Writing I/O | 可写入最多 16 个连续 IO 点 |
|
||||
| `0x1a` | unused | 2B |
|
||||
| `0x1c..0x3c` | target[9] | 9 个 f32 目标值；关节格式时单位 degree |
|
||||
|
||||
当前实现：`FanucJ519Protocol.PackCommandPacket()` 已按上述布局打包，默认 `dataStyle=1`，也就是关节格式。运行时会把规划输出的弧度制关节轨迹转换为 degree 后下发。
|
||||
|
||||
### 3.4 状态输出 stop 包
|
||||
|
||||
外部设备发给机器人：
|
||||
|
||||
| 字段 | 长度 | 值 |
|
||||
| --- | --- | --- |
|
||||
| Packet type | 4B | `2` |
|
||||
| Version | 4B | `1` |
|
||||
|
||||
文档把它定义为“停止状态包输出”的控制包，不是命令流正常终止的首选动作。命令流结束应通过 command packet 的 `Last data=1` 表达。
|
||||
|
||||
当前实现：`FanucJ519Client.StopMotionAsync()` 当前会停止状态包驱动发送并发送 packet type `2`，而稠密轨迹执行期间保持 `LastData=0`。这是与 FANUC 文档最明显的语义差异之一；已有多数 UTTC 抓包显示主运行窗口 `LastData=0`，但 `../j519 协议.pcap` 中存在 1 个 `LastData=1` 后紧跟 packet type `2` 的样本，后续应单独校准停止语义。
|
||||
|
||||
## 4. 通信时序重点
|
||||
|
||||
文档推荐的时序是：
|
||||
|
||||
1. 外部设备发送状态输出 start 包。
|
||||
2. 机器人每个通信周期输出状态包。
|
||||
3. 机器人程序执行到 `IBGN start[*]` 后，状态包 bit0 变为 `1`，表示等待命令包。
|
||||
4. 外部设备收到 bit0 为 `1` 的状态包后，立即发送第一帧命令包，第一帧命令序号应等于刚收到的状态包序号。
|
||||
5. 后续每收到一个状态包，外部设备应立即发送下一帧命令包。
|
||||
6. 结束命令通信时，发送 `Last data=1` 的最后一帧命令包。
|
||||
|
||||
当前实现对照：
|
||||
|
||||
1. `FanucJ519Client` 已改为收到机器人 132B status 包后立即回发当前命令，不再由上位机本地固定 8ms 发送循环主动发包。
|
||||
2. 命令包 sequence 已按刚收到的 status packet sequence 写入，避免第一帧从本地 `0` 起步。
|
||||
3. `FanucControllerRuntime.ExecuteTrajectory()` 启动前会检查已有 J519 响应中的 `AcceptsCommand` 和 `SystemReady`；但如果还没收到状态包，则会放行，后续命令仍要等第一帧 status 到达才会发出。
|
||||
4. 当前稠密轨迹结束不发送 `LastData=1`，而是依赖停止 J519 状态包驱动发送和 packet type `2` stop 控制包。
|
||||
|
||||
序号和节拍已经按手册方向校准；停止语义仍需在真实 R30iB 联调中继续确认。
|
||||
|
||||
## 5. 命令缓冲
|
||||
|
||||
文档说明机器人可以缓冲提前到达的 command packet。默认启用，缓冲上限为 `$STMO.$PKT_STACK - 1`，`$PKT_STACK` 默认 `10`，可配置范围 `2..10`。`$STMO.$START_MOVE` 决定积累多少未处理命令包后开始运动，默认 `1`。
|
||||
|
||||
注意事项：
|
||||
|
||||
1. 只有 command packet 会进入缓冲。
|
||||
2. status output stop packet 会立即处理。
|
||||
3. 如果 command buffer 中还有未处理包，不应发送 status output stop packet。
|
||||
4. 使用 `Last data=1` 时，机器人会先处理完缓冲里的命令包，再结束外部控制。
|
||||
|
||||
当前实现没有显式预填 `$PKT_STACK` 缓冲，也没有读取 `$START_MOVE`。`FanucJ519Client` 只保存一个“当前命令”，由后台循环持续发送；`FanucControllerRuntime.SendDenseTrajectory()` 另一个 8ms 循环负责按轨迹时间更新这条当前命令。这与文档的“按状态包响应并可提前发多包缓冲”模型不同。
|
||||
|
||||
## 6. 可执行运动条件
|
||||
|
||||
文档列出的主要运动约束：
|
||||
|
||||
1. 目标点必须可达。
|
||||
2. 笛卡尔格式下目标点对应的关节解必须唯一，且 configuration 要与 `IBGN start` 开始时一致。
|
||||
3. 各轴必须满足上下限。
|
||||
4. 不能发生自碰撞。
|
||||
5. 必须考虑 FANUC J3 轴定义：J3 不是相对 J2 臂的夹角，而是机器人视角下相对水平面的 J3 臂角度。
|
||||
6. 外部设备必须控制每轴速度、加速度、jerk 不超过 `$STMO_GRP` 下的限制。
|
||||
7. 状态包中的当前位置是 servo feedback position，不是 command position。轨迹起点应平滑连接到机器人 command position，而不能简单用当前 servo position 直接起步。
|
||||
8. reducer load 超限也会导致停机，负载相关计算不公开。
|
||||
|
||||
当前实现对这些条件的覆盖：
|
||||
|
||||
| 条件 | 当前状态 |
|
||||
| --- | --- |
|
||||
| 关节格式下发 | 已实现，当前现场链路默认只使用关节格式 |
|
||||
| `rad -> deg` | 已实现，并由 UTTC J519 golden tests 覆盖 |
|
||||
| `speed_ratio` 下发时间轴缩放 | 已实现，J519 实发时间为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio` |
|
||||
| IO 触发嵌入 J519 命令包 | 已实现，使用 `write_io_type/index/mask/value` |
|
||||
| 速度、加速度、jerk 约束 | 规划层有 `acc_limit / jerk_limit` 等兼容参数，但未从 FANUC `$STMO_GRP` 在线读取，也未实现手册附录中的 20 档速度/负载插值 |
|
||||
| J3 轴定义 | 当前文档未见专门处理；需要确认 `.robot` 模型与现场导出轨迹是否已经采用 FANUC J3 定义 |
|
||||
| command position 起步 | `MoveJoint` 会用当前运行时记录的关节作为起点生成 PTP 稠密轨迹；但没有通过 FANUC HMI 通信读取 command position |
|
||||
| reducer load | 未建模，依赖保守规划和现场报警反馈 |
|
||||
| 笛卡尔格式限制 | 运行时不走笛卡尔 J519 目标格式，暂不覆盖 configuration 变化报警 |
|
||||
|
||||
## 7. 系统变量
|
||||
|
||||
与本仓库后续最相关的变量：
|
||||
|
||||
| 变量 | 默认/含义 |
|
||||
| --- | --- |
|
||||
| `$STMO.$PHYS_PORT` | 物理口，`1=CD38A`，`2=CD38B` |
|
||||
| `$STMO.$COM_INT` | 通信周期，单位 ms，通常 `8`，只读 |
|
||||
| `$STMO.$PKT_STACK` | command buffer 最大保留量，默认 `10` |
|
||||
| `$STMO.$START_MOVE` | 缓冲中积累多少未处理命令后开始运动，默认 `1` |
|
||||
| `$STMO_GRP.$JNT_VEL_LIM[*]` | 各轴速度上限，degree/s，只读 |
|
||||
| `$STMO_GRP.$JNT_ACC_LIM[*]` | 各轴加速度上限，degree/s^2，只读 |
|
||||
| `$STMO_GRP.$JNT_JRK_LIM[*]` | 各轴 jerk 上限，degree/s^3，只读 |
|
||||
| `$STMO_GRP.$LMT_MODE` | 加速度/jerk 限制计算模式 |
|
||||
| `$STMO_GRP.$WARN_LIM` | 接近限制时报警阈值，默认 `80%` |
|
||||
| `$STMO_GRP.$FLTR_LN` | 命令目标移动平均滤波窗口 |
|
||||
| `$STMO_GRP.$MAX_SPD` | 用于限制计算的 flange center 最大速度 |
|
||||
|
||||
当前实现没有读取或设置上述系统变量。`RobotProfile.ServoPeriod` 当前决定运行时发送周期；对当前现场而言应继续确认它与 `$COM_INT` 一致。
|
||||
|
||||
## 8. 附录 B：加速度和 jerk 限制
|
||||
|
||||
文档说明，在 `$STMO_GRP[].$LMT_MODE=0` 时，加速度和 jerk 的允许上限会根据 flange center speed 与 payload 计算：
|
||||
|
||||
1. 以 `$MAX_SPD` 分成 20 档速度区间。
|
||||
2. 每个轴、每种限制类型都有无负载和最大负载两张 20 档表。
|
||||
3. 实际 payload 通过线性插值得到限制表。
|
||||
4. 实际 flange center speed 在相邻速度档之间线性插值。
|
||||
5. 限制值不是每个通信周期都更新，而是在超过 `Vmax/20` 到再次跌回阈值的整段时间内，以该段观测到的 `Vpeak` 决定。
|
||||
6. 如果长时间不跌回阈值，会按中间检查时间做临时判断。
|
||||
|
||||
文档还提供了 packet type `3` 的限制表查询协议：
|
||||
|
||||
| 包 | 方向 | 重点字段 |
|
||||
| --- | --- | --- |
|
||||
| 请求 | 外部设备 -> 机器人 | packet type `3`、version `1`、axis `1..9`、limit type `0=velocity/1=acceleration/2=jerk` |
|
||||
| 响应 | 机器人 -> 外部设备 | packet type `3`、version `1`、axis、limit type、`Vmax`、中间检查时间、无负载 20 档、最大负载 20 档 |
|
||||
|
||||
当前实现没有 packet type `3` 查询，也没有实现手册描述的动态限制表算法。现阶段规划时长和保守程度主要依赖 replacement 自身参数与现场抓包对齐。
|
||||
|
||||
## 9. 报警与诊断
|
||||
|
||||
文档中与实现最相关的报警：
|
||||
|
||||
| 报警 | 含义 |
|
||||
| --- | --- |
|
||||
| `MOTN-600` | 命令序号与机器人期望不一致 |
|
||||
| `MOTN-602` | data format 非法 |
|
||||
| `MOTN-603` | 后续命令包未在通信周期内到达 |
|
||||
| `MOTN-604` | 命令包过多，超出缓冲 |
|
||||
| `MOTN-605` | 目标位置包含 NaN 或 infinity |
|
||||
| `MOTN-606` | 非 AUTO 或 override 不是 100% |
|
||||
| `MOTN-607` | 协议版本不匹配 |
|
||||
| `MOTN-609/610/611` | 速度、加速度、jerk 超限 |
|
||||
| `MOTN-612/613/614` | 接近速度、加速度、jerk 限制 |
|
||||
| `MOTN-617` | 目标点与当前位置不连续 |
|
||||
| `MOTN-619` | 当前机型不支持笛卡尔目标格式 |
|
||||
| `PRIO-023` | 读写的 IO 类型或索引未分配 |
|
||||
|
||||
当前 `ControllerStateSnapshot.ActiveAlarms` 仍为空，Web 状态页也尚未接入 FANUC 报警列表。后续现场联调如果出现报警，应优先按上述表格关联 J519 包序号、目标数据、IO 字段、发送间隔和状态包 bit。
|
||||
|
||||
## 10. 与当前代码的结论
|
||||
|
||||
已基本对齐：
|
||||
|
||||
1. UDP 60015、大端、start/stop 控制包、64B command packet、132B status packet 的基础二进制布局。
|
||||
2. `Data format=1` 的关节目标下发。
|
||||
3. 状态位 bit0..bit3 的解析和快照暴露。
|
||||
4. 规划输出 `rad` 转 J519 `deg`。
|
||||
5. 根据 `speed_ratio` 做运行期时间轴缩放，而不是改变规划文件时间。
|
||||
6. 飞拍 IO 触发通过 command packet 的写 IO 字段下发。
|
||||
7. 命令发送按机器人 UDP status 包驱动，并使用最新 status sequence 回发。
|
||||
|
||||
主要差异/风险：
|
||||
|
||||
1. 当前未实现命令缓冲预填，也未读取 `$PKT_STACK / $START_MOVE`。
|
||||
2. 当前停止运动依赖 packet type `2` stop 控制包，没有稳定发送 `LastData=1` 的最后 command packet；这与手册标准结束语义不同。
|
||||
3. 当前未实现 packet type `3` 的速度/加速度/jerk 限制表查询，也未实现 payload/speed 20 档动态限制算法。
|
||||
4. 当前没有自动校验 `AUTO / 100% OVERRIDE / brake control / resume offset / payload` 等控制器前置状态。
|
||||
5. 当前没有报警码读取和 `MOTN-* / PRIO-*` 映射。
|
||||
|
||||
建议后续联调优先级：
|
||||
|
||||
1. 验证运动结束是否必须补 `LastData=1`；如果当前 stop 控制包能稳定工作，也应在文档中标为现场兼容路径，而不是手册标准路径。
|
||||
2. 抓一次报警现场包，确认 `MOTN-600/603/617` 等是否能从包序号与状态位直接定位。
|
||||
3. 如果后续追求更稳的真实机运行，补 packet type `3` 限制表查询，并把规划器的速度、加速度、jerk 校验与 FANUC 手册算法靠近。
|
||||
70
docs/legacy-fit-uttc-ms11-plan.md
Normal file
70
docs/legacy-fit-uttc-ms11-plan.md
Normal file
@@ -0,0 +1,70 @@
|
||||
# UTTC_MS11 Legacy Fit 计划
|
||||
|
||||
## 目标
|
||||
|
||||
把 `Rvbust/前两个点正常 飞拍失败的运行` 中的旧 1x 轨迹拟合逻辑收敛到当前 replacement 实现里，让 `UTTC_MS11` 在新系统中尽量复现旧系统的轨迹时间轴和中间点形状。
|
||||
|
||||
当前已确认的事实：
|
||||
|
||||
- `Config/RobotConfig.json` 里的 `UTTC_MS11` 示教点与旧样本一致。
|
||||
- 旧 `1倍速度 角度坐标点/waypoint.txt` 已给出 20 个示教点的 legacy 时间节点。
|
||||
- 旧 1x 的节点时间与当前规划时间存在稳定比例，约为 `0.742277`。
|
||||
- 当前运行时 `ApplySmoothStartStopTiming` 会再次改写时间轴，这会破坏旧 waypoint time 的拟合结果。
|
||||
|
||||
## 拟合策略
|
||||
|
||||
优先分两层处理，不把不同问题混成一个旋钮：
|
||||
|
||||
1. 时间轴拟合
|
||||
- 先把 `UTTC_MS11` 的规划时间拉回旧 1x 的节点时间。
|
||||
- 通过 `planning_speed_scale` 复现旧 `waypoint.txt` 的时间比例。
|
||||
- 对 legacy-fit 轨迹，禁止运行时二次平滑起停时间重映射。
|
||||
|
||||
2. 空间曲线拟合
|
||||
- 保持原始示教点不变。
|
||||
- 先用当前插补器 + legacy 时间轴做第一版对齐。
|
||||
- 如果中间点仍和旧轨迹差异明显，再用旧 `JointDetialTraj.txt` 在 knot 附近反推速度/加速度，升级为 Hermite 拟合。
|
||||
|
||||
## 计划分解
|
||||
|
||||
### 1. 配置层
|
||||
|
||||
- 为 `RobotConfig.json` 增加明确的 legacy-fit 运行开关。
|
||||
- 当前现场的 `UTTC_MS11` 显式启用：
|
||||
- `planning_speed_scale = 0.742277`
|
||||
- `smooth_start_stop_timing = false`
|
||||
- 保留默认行为为兼容旧实现，以免影响其他轨迹。
|
||||
|
||||
### 2. 编排层
|
||||
|
||||
- `ControllerClientTrajectoryOrchestrator` 读取运行配置后，按开关决定是否调用 `ApplySmoothStartStopTiming`。
|
||||
- 缓存键必须包含该开关，避免 legacy-fit 和普通飞拍共用一份结果。
|
||||
- `saveTrajectory` / `IsFlyshotTrajectoryValid` 仍然输出规划结果，只是 legacy-fit 轨迹不再被二次改写时间轴。
|
||||
|
||||
### 3. 运行层
|
||||
|
||||
- `FanucControllerRuntime` 继续使用 8ms 物理发送周期。
|
||||
- DenseSend 实发点数仍按 `duration / (8ms * speedRatio)` 计算。
|
||||
- 终点要保留完整落点，不因为非整周期而丢掉最后一个点。
|
||||
|
||||
### 4. 测试层
|
||||
|
||||
- 增加配置测试，确认新开关可解析，默认值不破坏旧行为。
|
||||
- 增加编排测试，确认 UTTC_MS11 的规划时刻与旧 `waypoint.txt` 一致。
|
||||
- 增加运行测试，确认 legacy-fit 目录能写出稳定的 DenseSend 诊断文件。
|
||||
- 继续保留原有平滑起停测试，作为“显式开启平滑时”的回归保护。
|
||||
|
||||
## 验收标准
|
||||
|
||||
- `UTTC_MS11` 的 waypoint time 与旧 `waypoint.txt` 对齐。
|
||||
- `UTTC_MS11` 运行时不再额外套一层平滑重映射。
|
||||
- DenseSend 输出稳定，且不再受旧 bin 目录残留影响。
|
||||
- 现有默认轨迹和非 UTTC 场景不被破坏。
|
||||
|
||||
## 后续可能的第二阶段
|
||||
|
||||
如果时间轴对齐后，中间点仍和旧轨迹有明显偏差，再做第二阶段：
|
||||
|
||||
- 从旧 `JointDetialTraj.txt` 提取 knot 附近速度/加速度。
|
||||
- 用 Hermite / quintic Hermite 继续逼近旧曲线形状。
|
||||
- 将空间曲线拟合与时间轴拟合分开验收。
|
||||
160
docs/move-joint-jerk-comparison-20260505.md
Normal file
160
docs/move-joint-jerk-comparison-20260505.md
Normal file
@@ -0,0 +1,160 @@
|
||||
# MoveJoint 失败样本六轴限值与 ActualSendJerkStats 对比
|
||||
|
||||
记录时间：2026-05-05
|
||||
|
||||
## 1. 目的
|
||||
|
||||
本文档固定记录以下三类证据，避免后续继续混用测试基线、旧文档结论和当前运行目录中的真实模型数据：
|
||||
|
||||
- 当前运行目录 `.robot` 模型中的六轴基础 `velocity / acceleration / jerk`
|
||||
- 现场示教器读取到的六轴 `velocity / acceleration / jerk`
|
||||
- 当前运行目录 `RobotConfig.json` 中的 `acc_limit / jerk_limit`
|
||||
- 当前失败样本 `ActualSendJerkStats.txt` 中的逐轴实发跃度峰值
|
||||
|
||||
本次样本对应目录：
|
||||
|
||||
- `.robot`：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Models/LR_Mate_200iD_7L.robot`
|
||||
- 配置：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/RobotConfig.json`
|
||||
- 实发跃度：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Data/move-joint/DenseSend/20260505_203416_563/ActualSendJerkStats.txt`
|
||||
- 抓包：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Data/move-joint/DenseSend/20260505_203416_563/移动点 跃度过大.pcap`
|
||||
|
||||
## 2. 当前运行模型的真实六轴限值
|
||||
|
||||
当前仓库运行时通过 `RobotModelLoader.LoadProfile(...)` 从 `.robot` 中读取每轴 `limit.velocity / limit.acceleration / limit.jerk`，然后只对加速度和 jerk 叠加 `RobotConfig.json` 的全局倍率：
|
||||
|
||||
- `velocity_eff = velocity_base`
|
||||
- `acceleration_eff = acceleration_base * acc_limit`
|
||||
- `jerk_eff = jerk_base * jerk_limit`
|
||||
|
||||
当前运行目录 `RobotConfig.json` 中：
|
||||
|
||||
- `acc_limit = 0.74`
|
||||
- `jerk_limit = 0.74`
|
||||
|
||||
按当前运行目录真实模型解出的六轴基础值与生效值如下：
|
||||
|
||||
| Joint | vel_base | acc_base | jerk_base | vel_eff | acc_eff | jerk_eff(rad/s^3) | jerk_eff(deg/s^3) |
|
||||
| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
|
||||
| Joint1 | 6.45 | 26.90 | 224.22 | 6.45 | 19.9060 | 165.9228 | 9506.6762 |
|
||||
| Joint2 | 5.41 | 22.54 | 187.86 | 5.41 | 16.6796 | 139.0164 | 7965.0530 |
|
||||
| Joint3 | 7.15 | 29.81 | 248.46 | 7.15 | 22.0594 | 183.8604 | 10534.4249 |
|
||||
| Joint4 | 9.59 | 39.99 | 333.30 | 9.59 | 29.5926 | 246.6420 | 14131.5457 |
|
||||
| Joint5 | 9.51 | 39.63 | 330.27 | 9.51 | 29.3262 | 244.3998 | 14003.0771 |
|
||||
| Joint6 | 17.45 | 72.72 | 606.01 | 17.45 | 53.8128 | 448.4474 | 25694.1434 |
|
||||
|
||||
重要结论：
|
||||
|
||||
- 当前运行目录中，`Joint1.jerk_base` 不是测试基线里常见的 `272.7`，而是 `224.22`。
|
||||
- 因此当前样本的 `Joint1` 生效 jerk 上限应按 `224.22 * 0.74 = 165.9228 rad/s^3` 计算。
|
||||
|
||||
## 3. 示教器读取到的实际机器人限值
|
||||
|
||||
2026-05-06 现场从机器人示教器读取到的速度、加速度与加加速度限制如下。示教器显示口径为角度制；下表同时记录换算后的弧度制，便于与 `.robot` / `RobotProfile` 中的基础限值直接对照。
|
||||
|
||||
换算公式：
|
||||
|
||||
- `rad = deg * π / 180`
|
||||
|
||||
| Joint | velocity(deg/s) | velocity(rad/s) | acceleration(deg/s^2) | acceleration(rad/s^2) | jerk(deg/s^3) | jerk(rad/s^3) |
|
||||
| --- | ---: | ---: | ---: | ---: | ---: | ---: |
|
||||
| Joint1 | 370 | 6.457718 | 1541.667 | 26.907165 | 12847.223 | 224.226341 |
|
||||
| Joint2 | 310 | 5.410521 | 1291.667 | 22.543842 | 10763.889 | 187.865303 |
|
||||
| Joint3 | 410 | 7.155850 | 1708.333 | 29.816036 | 14236.111 | 248.467010 |
|
||||
| Joint4 | 550 | 9.599311 | 2291.667 | 39.997135 | 19097.223 | 333.309419 |
|
||||
| Joint5 | 545 | 9.512044 | 2270.833 | 39.633513 | 18923.611 | 330.279318 |
|
||||
| Joint6 | 1000 | 17.453293 | 4166.667 | 72.722058 | 34722.223 | 606.017115 |
|
||||
|
||||
这组数据的含义：
|
||||
|
||||
- 示教器读取值与当前运行 `.robot` 中的 `velocity_base / acceleration_base / jerk_base` 基本一致，可作为实际机器人基础限值证据。
|
||||
- 它还没有叠加当前 `RobotConfig.json` 的 `acc_limit = 0.74` 与 `jerk_limit = 0.74`；若用于本次失败样本比较，仍应使用第 2 节中的 `acc_eff / jerk_eff` 作为生效上限。
|
||||
|
||||
## 4. ActualSendJerkStats 的单位边界
|
||||
|
||||
`ActualSendJerkStats.txt` 的真实输入不是弧度，而是 J519 下发用的角度制关节目标：
|
||||
|
||||
1. `SampleDenseJointTrajectoryDegrees(...)` 先把轨迹点从 `rad` 转成 `deg`
|
||||
2. `BuildDenseSendJointRow(...)` 把这组角度制关节写入 `ActualSendJointTraj.txt`
|
||||
3. `BuildDenseSendJerkRow(...)` 再直接基于这组角度制关节做三阶差分
|
||||
|
||||
2026-05-06 之后，`ActualSendJointTraj.txt` 第一列和 `ActualSendJerkStats.txt` 的 `dt` 都使用 J519 实发时间；若需要查看被 `speed_ratio` 缩放后的原轨迹采样时间，应读取同目录的 `ActualSendTiming.txt`。因此当前这份 `ActualSendJerkStats.txt` 的逐轴跃度应按以下方式理解：
|
||||
|
||||
- 文本中的数值口径：`deg/s^3`
|
||||
- 若要与 `.robot` / `RobotProfile` 中的 jerk limit 比较，需要先换算为 `rad/s^3`
|
||||
- 换算公式：`jerk_rad = jerk_deg * π / 180`
|
||||
|
||||
## 5. 全文件逐轴最大跃度对比
|
||||
|
||||
扫描整份 `ActualSendJerkStats.txt` 后，各轴绝对值最大跃度如下：
|
||||
|
||||
| Joint | peak window(s) | peak line | peak actual(deg/s^3) | peak actual(rad/s^3) | jerk_eff(rad/s^3) | peak/limit |
|
||||
| --- | --- | ---: | ---: | ---: | ---: | ---: |
|
||||
| Joint1 | `1.056 -> 1.064` | 133 | 21868.115990 | 381.670625 | 165.922800 | 2.3003 |
|
||||
| Joint2 | `1.056 -> 1.064` | 133 | 40.271793 | 0.702875 | 139.016400 | 0.0051 |
|
||||
| Joint3 | `1.056 -> 1.064` | 133 | 98.314401 | 1.715910 | 183.860400 | 0.0093 |
|
||||
| Joint4 | `1.056 -> 1.064` | 133 | 0.207266 | 0.003617 | 246.642000 | 0.0000 |
|
||||
| Joint5 | `1.056 -> 1.064` | 133 | 26.759688 | 0.467045 | 244.399800 | 0.0019 |
|
||||
| Joint6 | `1.056 -> 1.064` | 133 | 2.328736 | 0.040644 | 448.447400 | 0.0001 |
|
||||
|
||||
结论非常明确：
|
||||
|
||||
- 全文件范围内，只有 `Joint1` 的实发跃度显著超过当前生效 jerk 上限。
|
||||
- 其余 5 个轴即使取全文件峰值，也远低于各自当前生效 jerk limit。
|
||||
- 当前样本本质上是一个“J1 主导”的跃度问题，而不是六轴普遍同时逼近上限。
|
||||
|
||||
## 6. 报警窗口逐轴对比
|
||||
|
||||
结合抓包与 J519 序号，报警前最后一个关键窗口是：
|
||||
|
||||
- `seq=41552`
|
||||
- 轨迹时间窗口：`0.296 -> 0.304s`
|
||||
- `ActualSendJerkStats.txt` 行号：38
|
||||
|
||||
该窗口逐轴跃度如下：
|
||||
|
||||
| Joint | alarm window jerk(deg/s^3) | alarm window jerk(rad/s^3) | jerk_eff(rad/s^3) | alarm/limit |
|
||||
| --- | ---: | ---: | ---: | ---: |
|
||||
| Joint1 | -20395.713579 | 355.972355 | 165.922800 | 2.1454 |
|
||||
| Joint2 | -37.560252 | 0.655550 | 139.016400 | 0.0047 |
|
||||
| Joint3 | 91.694793 | 1.600376 | 183.860400 | 0.0087 |
|
||||
| Joint4 | -0.193310 | 0.003374 | 246.642000 | 0.0000 |
|
||||
| Joint5 | 24.957931 | 0.435598 | 244.399800 | 0.0018 |
|
||||
| Joint6 | 2.171939 | 0.037907 | 448.447400 | 0.0001 |
|
||||
|
||||
该窗口的直接结论与全局扫描一致：
|
||||
|
||||
- 机器人开始报警的 `0.296 -> 0.304s` 窗口里，真正越限的仍然只有 `Joint1`
|
||||
- `Joint1` 在报警窗口内已经达到当前生效 jerk limit 的 `2.1454x`
|
||||
- 其余 5 轴在同一窗口仍远低于生效 jerk 上限
|
||||
|
||||
## 7. 报警窗口与全局峰值窗口的关系
|
||||
|
||||
本次样本不能简单理解为“最大峰值出现的位置就是首次报警位置”。
|
||||
|
||||
当前证据表明：
|
||||
|
||||
- 首次报警相关窗口在 `0.296 -> 0.304s`
|
||||
- 全文件最大的 J1 跃度峰值出现在更后面的 `1.056 -> 1.064s`
|
||||
|
||||
这说明至少有两件事需要分开：
|
||||
|
||||
1. 机器人第一次进入异常态时，`Joint1` 已经在 `0.296 -> 0.304s` 超限约 `2.15x`
|
||||
2. 即便忽略第一次报警，后续轨迹中仍存在更高的 J1 跃度峰值，说明当前 `MoveJoint` 临时轨迹整体都偏激，不只是单个孤立点异常
|
||||
|
||||
## 8. 当前可落地的结论
|
||||
|
||||
基于当前运行目录的真实模型、配置和实发跃度文件，本次失败样本可以先固定为下面这组结论：
|
||||
|
||||
- 当前运行模型 `Joint1.jerk_base = 224.22`，不是 `272.7`
|
||||
- 现场示教器读取到的 `Joint1.jerk = 12847.223 deg/s^3 = 224.226341 rad/s^3`，与当前运行模型基础值一致
|
||||
- 当前样本 `jerk_limit = 0.74`，所以 `Joint1.jerk_eff = 165.9228 rad/s^3`
|
||||
- `ActualSendJerkStats.txt` 需要按 `deg/s^3` 理解，再换算成 `rad/s^3` 后与模型 jerk limit 对比
|
||||
- 无论看报警窗口还是看全文件峰值，越限主体都只有 `Joint1`
|
||||
- 报警窗口 `0.296 -> 0.304s` 中，`Joint1` 已经约为当前生效 jerk 上限的 `2.1454x`
|
||||
- 全文件最大峰值窗口 `1.056 -> 1.064s` 中，`Joint1` 约为当前生效 jerk 上限的 `2.3003x`
|
||||
|
||||
因此当前最合理的根因指向仍然是：
|
||||
|
||||
- `MoveJoint` 临时轨迹生成得过于激进
|
||||
- 当前问题首先应按 `Joint1` 的 jerk 约束失配来处理
|
||||
- 暂时没有证据支持“六轴普遍一起逼近限制”或“网络链路导致跃度统计失真”这类解释
|
||||
592
docs/planning-duration-mismatch-investigation.md
Normal file
592
docs/planning-duration-mismatch-investigation.md
Normal file
@@ -0,0 +1,592 @@
|
||||
# 轨迹规划时长差异调查记录
|
||||
|
||||
## 背景
|
||||
|
||||
当前新 C# 规划链路在不额外缩放规划约束时，部分真实现场轨迹会比旧 RVBUST/FlyingShot 导出的 `JointTraj.txt` 更短。
|
||||
|
||||
最典型现象：
|
||||
|
||||
- 真实 `Rvbust/uttc-20260428/Data/JointTraj.txt`：`UTTC_MS11` 总时长约 `7.403046s`。
|
||||
- 新 C# 当前默认规划输出：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Data/UTTC_MS11/JointTraj.txt` 总时长约 `5.495112s`。
|
||||
- 实体机复核确认：修改运行时 `speed_ratio` 不影响 `IsFlyshotTrajectoryValid` / `SaveTrajectoryInfo` 生成的 `JointTraj.txt` 规划时长。
|
||||
|
||||
因此，本问题不应继续归因到运行时 `speed_ratio`，而应归到规划阶段的有效关节约束来源。
|
||||
|
||||
## 已确认事实
|
||||
|
||||
1. `speed_ratio` 是运行执行倍率。
|
||||
|
||||
UTTC 抓包和实体机测试都显示，`speed_ratio=0.7` 会拉伸 J519 实际下发时间和包数，但不会改变已生成的 `JointTraj.txt` 规划时间轴。
|
||||
|
||||
2. `JointTraj.txt` 是规划结果点位。
|
||||
|
||||
`saveTrajectory` / `SaveTrajInfo` / `IsFlyshotTrajectoryValid(saveTrajectory=true)` 生成的 `JointTraj.txt` 表示规划后的 sparse waypoint 时间轴，不是上传的原始飞拍路径，也不是 J519 逐周期下发点。
|
||||
|
||||
3. UTTC_MS11 的差异是整条时间轴等比例缩放。
|
||||
|
||||
对 `UTTC_MS11`，真实时间和当前 C# 默认规划时间之间的比例在所有 waypoint 上都一致：
|
||||
|
||||
```text
|
||||
C#默认规划时间 / 真实规划时间 = 5.495112 / 7.403046 = 0.742277
|
||||
```
|
||||
|
||||
这说明路点顺序、相对分段时间和 ICSP 主要逻辑基本一致，差异更像是规划时传入的有效 `vel/acc/jerk` joint limits 存在整体倍率差异。
|
||||
|
||||
4. 现场配置中没有找到显式倍率字段。
|
||||
|
||||
已检查现场现有配置，未发现类似 `planning_speed_scale` 或等价字段保存了 `0.742277`、`0.7`、`0.9` 等规划倍率值。
|
||||
|
||||
## 样本对比
|
||||
|
||||
| 样本 | 真实 `JointTraj.txt` 时长 | 当前/已有新规划时长 | 等效倍率 `新规划/真实` | 说明 |
|
||||
| --- | ---: | ---: | ---: | --- |
|
||||
| `UTTC_MS11` | `7.403046s` | `5.495112s` | `0.742277` | 所有 waypoint 时间均为同一比例 |
|
||||
| `UTTC_MS11_TEST01` | `7.805885s` | `5.814370s` | `0.744870` | `20260428 多点` 新增 1 个路径点后仍几乎是整条时间轴等比例缩放 |
|
||||
| `EOL10_EAU_0` | `14.849788s` | `10.489800s` | `0.706394` | 同样表现为新规划偏快 |
|
||||
| `EOL9_EAU_0` / `EOL9_EAU_90` | `6.400851s` | `5.651140s` | `0.882873` | `EOL9 EAU 0` 与 `EOL9 EAU 90` 的真实 `JointTraj.txt` 文件一致 |
|
||||
| `EOL9_EAU_90` | `6.400851s` | `6.471610s` | `1.011055` | 使用 `speedRatio=0.9 + self-adapt-icsp` 的旧离线结果已接近真实 |
|
||||
|
||||
这些样本说明差异不是 `UTTC_MS11` 的个案，也不是一个可以全局写死的常数。不同真实样本对应的等效规划倍率不同。
|
||||
|
||||
## `20260428 多点` 新样本对比
|
||||
|
||||
2026-04-30 追加现场新样本：
|
||||
|
||||
```text
|
||||
../Rvbust/20260428 多点/RobotConfig.json
|
||||
../Rvbust/20260428 多点/JointTraj.txt
|
||||
../Rvbust/20260428 多点/JointDetialTraj.txt
|
||||
```
|
||||
|
||||
该样本中的飞拍程序名为：
|
||||
|
||||
```text
|
||||
UTTC_MS11_TEST01
|
||||
```
|
||||
|
||||
配置摘要：
|
||||
|
||||
```text
|
||||
waypoints=21
|
||||
shot_flags=21
|
||||
acc_limit=1
|
||||
jerk_limit=1
|
||||
```
|
||||
|
||||
实机导出的 `JointTraj.txt`：
|
||||
|
||||
```text
|
||||
rows=21
|
||||
duration=7.805885s
|
||||
```
|
||||
|
||||
用当前 C# `ICspPlanner`、同一个 `LR_Mate_200iD_7L.robot`、同一份 `RobotConfig.json` 规划：
|
||||
|
||||
```text
|
||||
rows=21
|
||||
duration=5.814370s
|
||||
C# / 实机 = 0.744870
|
||||
```
|
||||
|
||||
逐点/逐段统计：
|
||||
|
||||
```text
|
||||
point_ratio_std = 2.18e-7
|
||||
segment_ratio_std = 9.0e-7
|
||||
max_joint_diff = 5.0e-7 rad
|
||||
```
|
||||
|
||||
这说明：
|
||||
|
||||
1. 新样本的路点关节值与 C# 输入基本完全一致，不是解析错点或单位错位。
|
||||
2. 新增 1 个路径点后，C# 与旧系统仍然保持几乎严格的整条时间轴等比例差异。
|
||||
3. `UTTC_MS11_TEST01` 的倍率 `0.744870` 与原 `UTTC_MS11` 的 `0.742277` 非常接近，进一步支持“同一类 UTTC 现场导出使用了一组更保守的 effective JointLimits”这一判断。
|
||||
|
||||
和原 `UTTC_MS11` 对比：
|
||||
|
||||
```text
|
||||
原 UTTC_MS11 实机 rows=20 duration=7.403046s
|
||||
新 UTTC_MS11_TEST01 实机 rows=21 duration=7.805885s
|
||||
新增路径点后实机时长增加 0.402839s
|
||||
```
|
||||
|
||||
当前观察不到新增点导致规划形状或局部段比例失真；它更像是在同一套旧系统规划约束下正常增加了一段路径时间。
|
||||
|
||||
## `20260430.pcap` 初始化抓包复核
|
||||
|
||||
2026-04-30 继续复核现场提供的完整初始化抓包：
|
||||
|
||||
```text
|
||||
../Rvbust/20260428 多点/20260430.pcap
|
||||
```
|
||||
|
||||
抓包总览：
|
||||
|
||||
```text
|
||||
packet_count=4821
|
||||
tcp_payload_bytes=35302
|
||||
udp_payload_bytes=451946
|
||||
```
|
||||
|
||||
主要有效负载会话为：
|
||||
|
||||
```text
|
||||
UDP 192.168.10.11:60015 -> 192.168.10.10:56118 260700B
|
||||
UDP 192.168.10.11:60015 -> 192.168.10.10:48455 127116B
|
||||
UDP 192.168.10.10:48455 -> 192.168.10.11:60015 62088B
|
||||
TCP 192.168.10.11:10010 -> 192.168.10.10:42106 35102B
|
||||
TCP 192.168.10.11:10012 -> 192.168.10.10:33528 106B
|
||||
TCP 192.168.10.10:33528 -> 192.168.10.11:10012 94B
|
||||
```
|
||||
|
||||
全包搜索以下明文关键字没有命中：
|
||||
|
||||
```text
|
||||
Joint / joint / Limit / limit / vel / acc / jerk / Speed / speed /
|
||||
Robot / JSON / Traj / ratio / Ratio / GetJoint / SetJoint
|
||||
```
|
||||
|
||||
`TCP 10012` 命令通道按 `doz + length + message_id + body + zod` 解码后，只看到以下初始化/程序命令：
|
||||
|
||||
| 方向 | 消息号 | 含义 | 请求体/结果 |
|
||||
| --- | ---: | --- | --- |
|
||||
| C->R | `0x0001` | 未知握手 | 空请求 |
|
||||
| R->C | `0x0001` | 未知握手响应 | `result=0` |
|
||||
| C->R | `0x2000` | 未知版本/状态查询 | 空请求 |
|
||||
| R->C | `0x2000` | 未知版本/状态响应 | 包含 `0.6.0` 字符串 |
|
||||
| C->R | `0x2100` | `ResetRobot` | 空请求 |
|
||||
| R->C | `0x2100` | `ResetRobot` 响应 | `result=0` |
|
||||
| C->R | `0x2003` | `GetProgramStatus("RVBUSTSM")` | 程序名 `RVBUSTSM` |
|
||||
| R->C | `0x2003` | 程序状态响应 | `result=0, status=1` |
|
||||
| C->R | `0x2102` | `StartProgram("RVBUSTSM")` | 程序名 `RVBUSTSM` |
|
||||
| R->C | `0x2102` | 启动响应 | `result=0` |
|
||||
|
||||
没有看到：
|
||||
|
||||
- `0x2207 SetSpeedRatio`
|
||||
- `0x2206 GetSpeedRatio`
|
||||
- `0x2200/0x2201 GetTcp/SetTcp`
|
||||
- `0x2208/0x2209 GetIo/SetIo`
|
||||
- 任何疑似 `JointLimits / velocity / acceleration / jerk` 的参数帧
|
||||
|
||||
`TCP 10010` 状态通道只有机器人侧到上位机的状态帧：
|
||||
|
||||
```text
|
||||
390 个 90B 状态帧
|
||||
1 个 2B 连接前导
|
||||
```
|
||||
|
||||
这些帧与已逆向的 `pose[6] + joint[6] + external_axes[3] + raw_tail_words[4]` 状态布局一致，不携带规划约束。
|
||||
|
||||
`UDP 60015` J519 通道只出现既有三类长度：
|
||||
|
||||
```text
|
||||
C->R 8B 初始化包 1 个
|
||||
C->R 64B 目标关节命令包 970 个
|
||||
R->C 132B 反馈包 2938 个
|
||||
```
|
||||
|
||||
没有出现其他长度的 UDP 参数帧。64B 命令包是 J519 逐周期目标关节/IO 命令，132B 是机器人反馈；这条链路承载的是执行期 streaming motion，而不是旧 RVBUST 规划器的 joint limit 配置。
|
||||
|
||||
阶段结论：
|
||||
|
||||
```text
|
||||
20260430.pcap 只覆盖机器人侧 10010 / 10012 / 60015 通信。
|
||||
它没有 50001/TCP+JSON，也没有 ControllerServer/Python 客户端到旧服务端的配置调用。
|
||||
因此，这份抓包看不到旧规划阶段的 effective JointLimits。
|
||||
```
|
||||
|
||||
这并不否定“旧系统规划瞬间存在更保守的 effective JointLimits”这一方向；它只说明这份初始化抓包不是抓取该信息的位置。若要抓到这类限制，需要抓旧服务端内部 `_GetJointLimits/_SetJointLimits`，或者抓上层 Python/GUI 与 ControllerServer 之间的配置/规划调用，而不是只抓机器人控制柜侧的执行链路。
|
||||
|
||||
## `all-50001.pcap` 本机 50001 抓包复核
|
||||
|
||||
2026-04-30 追加复核本机所有网卡抓包：
|
||||
|
||||
```text
|
||||
../Rvbust/20260428 多点/all-50001.pcap
|
||||
SHA256=C3543F314AE446CABA8E2097EFAFB36F39DD73FFE166F051A1F9387CFD15990F
|
||||
```
|
||||
|
||||
该文件由 `tcpdump -i any` 生成，pcap linktype 为 `113`，即 Linux cooked capture。按 SLL 头解析后，确认抓到了本机到本机的 `50001` TCP JSON 通信：
|
||||
|
||||
```text
|
||||
192.168.1.100:35814 -> 192.168.1.100:50001 217B payload
|
||||
192.168.1.100:50001 -> 192.168.1.100:35814 91B payload
|
||||
```
|
||||
|
||||
客户端到服务端的完整 JSON 命令序列为：
|
||||
|
||||
```json
|
||||
{"reply_from_client":true}
|
||||
{"cmd":"SetUpRobot","robot_name":"FANUC_LR_Mate_200iD_7L"}
|
||||
{"cmd":"IsSetUp"}
|
||||
{"cmd":"SetActiveController","sim":false}
|
||||
{"cmd":"Connect","ip":"192.168.10.11"}
|
||||
{"buffer_size":8,"cmd":"EnableRobot"}
|
||||
```
|
||||
|
||||
服务端返回为：
|
||||
|
||||
```json
|
||||
{"test_from_server": true}
|
||||
{"res": true}
|
||||
{"res": true}
|
||||
{"res": true}
|
||||
{"res": true}
|
||||
{"res": true}
|
||||
```
|
||||
|
||||
这说明本次抓包确实覆盖到了旧 `50001` 控制链路，但当前只包含机器人初始化、连接和使能流程。里面没有看到：
|
||||
|
||||
- `ExecuteFlyShotTraj`
|
||||
- `SaveTrajInfo`
|
||||
- `IsFlyShotTrajValid`
|
||||
- `GetJointLimits / SetJointLimits`
|
||||
- `SetVelocityLimit / SetAccelerationLimit / SetJerkLimit`
|
||||
- 任何包含 `acc_limit / jerk_limit / JointLimits / velocity / acceleration / jerk` 的配置 JSON
|
||||
|
||||
阶段结论：
|
||||
|
||||
```text
|
||||
all-50001.pcap 已经证明抓包接口选对了；
|
||||
但这次只抓到了初始化链路，没有抓到规划/保存轨迹那一刻的 50001 请求。
|
||||
```
|
||||
|
||||
该待确认点已由下一节 `all-50001-plan.pcap` 覆盖：后续抓包确实抓到了 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)`，仍未出现规划限制字段。
|
||||
|
||||
## `all-50001-plan.pcap` 规划执行抓包复核
|
||||
|
||||
2026-04-30 追加复核规划/执行动作期间的本机 50001 抓包：
|
||||
|
||||
```text
|
||||
../Rvbust/20260428 多点/all-50001-plan.pcap
|
||||
SHA256=311DC45B4789ED11EBEAB7A396E2EE7A16EC8534E20F10127FB43BBAD823C21D
|
||||
```
|
||||
|
||||
该抓包同样是 `tcpdump -i any` 生成的 Linux cooked capture，已按 SLL 头解析。有效 TCP JSON 流为：
|
||||
|
||||
```text
|
||||
192.168.1.100:35814 -> 192.168.1.100:50001 2612B payload
|
||||
192.168.1.100:50001 -> 192.168.1.100:35814 516B payload
|
||||
```
|
||||
|
||||
客户端到服务端的关键命令序列为：
|
||||
|
||||
```json
|
||||
{"cmd":"ListFlyShotTraj"}
|
||||
{"cmd":"GetNextListFlyShotTraj","count":0}
|
||||
{"cmd":"SetSpeedRatio","ratio":0.5}
|
||||
{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
|
||||
{"cmd":"SetSpeedRatio","ratio":1.0}
|
||||
{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
|
||||
{"cmd":"StartUploadFlyShotTraj","name":"UTTC_MS11"}
|
||||
{"cmd":"UploadFlyShotTraj", "...":"4 批共 20 个 waypoint，每批包含 waypoints / shot_flags / offset_values / addrs"}
|
||||
{"cmd":"EndUploadFlyShotTraj","name":"UTTC_MS11"}
|
||||
{"cmd":"ListFlyShotTraj"}
|
||||
{"cmd":"GetNextListFlyShotTraj","count":0}
|
||||
```
|
||||
|
||||
两次执行请求均为：
|
||||
|
||||
```json
|
||||
{
|
||||
"cmd": "ExecuteFlyShotTraj",
|
||||
"method": "icsp",
|
||||
"move_to_start": true,
|
||||
"name": "UTTC_MS11_TEST01",
|
||||
"save_traj": true,
|
||||
"use_cache": false,
|
||||
"wait": true
|
||||
}
|
||||
```
|
||||
|
||||
它们前面的速度倍率分别为：
|
||||
|
||||
```text
|
||||
第一次：SetSpeedRatio ratio=0.5
|
||||
第二次：SetSpeedRatio ratio=1.0
|
||||
```
|
||||
|
||||
服务端对所有命令均返回：
|
||||
|
||||
```json
|
||||
{"res": true}
|
||||
```
|
||||
|
||||
这份抓包确认了两点：
|
||||
|
||||
1. 公开 50001 JSON 链路确实会把 `SetSpeedRatio` 和 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 发给旧服务端。
|
||||
2. 即便覆盖到了实际执行/保存轨迹动作，请求中仍没有出现 `GetJointLimits / SetJointLimits`、`SetVelocityLimit / SetAccelerationLimit / SetJerkLimit`，也没有 `acc_limit / jerk_limit / velocity / acceleration / jerk / JointLimits` 等规划限制字段。
|
||||
|
||||
因此，当前能从 50001 抓包确认的是：
|
||||
|
||||
```text
|
||||
规划方法、是否保存轨迹、是否使用缓存、是否等待执行，都会显式发到旧服务端；
|
||||
速度倍率通过 SetSpeedRatio 单独发到旧服务端；
|
||||
但 effective JointLimits 没有通过这次公开 50001 JSON 请求显式传入。
|
||||
```
|
||||
|
||||
这进一步收敛了差异来源：如果旧系统规划时确实使用了更保守的 joint limits，它更可能来自旧服务端在 `SetUpRobot("FANUC_LR_Mate_200iD_7L")` 后加载/初始化的内部状态，或来自 GUI/服务端内部私有路径，而不是这次 50001 公开 JSON 在 `ExecuteFlyShotTraj` 请求中传入的字段。
|
||||
|
||||
## Joint3/Joint2 couple A/B 测试
|
||||
|
||||
2026-04-30 追加测试：为了验证 `.robot` 中 `Joint3` 对 `Joint2` 的 couple 是否是规划时长差异主因，使用 Python ICSP demo 做了多组只读 A/B。
|
||||
|
||||
测试模型来自：
|
||||
|
||||
```text
|
||||
flyshot-replacement/Config/Models/LR_Mate_200iD_7L.robot
|
||||
```
|
||||
|
||||
其中 `Joint3` 的 couple 信息为：
|
||||
|
||||
```text
|
||||
q3_kin = q3_raw + q2_kin * 1.0 + 0.0
|
||||
```
|
||||
|
||||
测试变体：
|
||||
|
||||
- `raw`：原始 6 轴路点直接规划。
|
||||
- `replace_q3=q3+q2`：规划输入中把第 3 轴替换为耦合后的运动学角。
|
||||
- `replace_q3=q3-q2`：反向符号试探，排除符号理解错误。
|
||||
- `raw+constraint(q3+q2)`：保留原始 6 轴，同时追加虚拟约束轴 `q3+q2`，用 Joint3 的 `vel/acc/jerk` 限值检查。
|
||||
- `raw+constraint(q3-q2)`：反向符号的虚拟约束轴试探。
|
||||
|
||||
结果：
|
||||
|
||||
| 样本 | 真实时长 | 最接近变体 | 变体时长 | 变体/真实 | 与真实差值 | 结论 |
|
||||
| --- | ---: | --- | ---: | ---: | ---: | --- |
|
||||
| `UTTC_MS11` | `7.403046s` | `raw` | `5.495112s` | `0.742277` | `1.907934s` | couple 变体全部更短，且破坏原本严格等比例关系 |
|
||||
| `EOL10_EAU_0` | `14.849788s` | `replace_q3=q3+q2` | `10.600711s` | `0.713863` | `4.249077s` | couple 只改善约 `0.11s`，距离真实仍差 `4.25s` |
|
||||
| `EOL9_EAU_90` | `6.400851s` | `raw+constraint(q3+q2)` | `5.748560s` | `0.898093` | `0.652291s` | couple 约束有小幅影响，但仍不足以解释真实时长 |
|
||||
|
||||
关键观察：
|
||||
|
||||
1. `UTTC_MS11` 的 `raw` 规划时间和真实时间保持严格等比例，`point_ratio_std=0`、`segment_ratio_std≈0`；加入 couple 后反而出现分段比例波动。
|
||||
2. `EOL10_EAU_0` 与 `EOL9_EAU_90` 的 couple 变体只带来小幅时长变化，不能解释 10% 到 30% 级别的差异。
|
||||
3. 因此，当前证据不支持“只要把 Joint3/Joint2 couple 带入 ICSP，就能对齐旧 RVBUST 规划时长”。
|
||||
|
||||
阶段结论：
|
||||
|
||||
`Joint3` couple 确实是 C# 与 Python demo 当前都没有进入规划约束的缺口，但它不像本轮时长 mismatch 的主因。它更可能影响 FK/运动学边界或少数局部段约束；当前主要时长差异仍更像有效 joint limits、旧系统运行期规划倍率、或 RPS 内部 ICSP 参数来源不同。
|
||||
|
||||
## 同模型复核与更可能的差异层
|
||||
|
||||
2026-04-30 继续复核：
|
||||
|
||||
1. 当前仓库固化的模型与旧 `FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot` 字节哈希一致。
|
||||
2. `ControllerClientCompatRobotCatalog` 当前会把 `FANUC_LR_Mate_200iD` 和 `FANUC_LR_Mate_200iD_7L` 都映射到 `LR_Mate_200iD_7L.robot`。
|
||||
3. `LR_Mate_200iD.robot` 短臂模型的前三轴 `vel/acc/jerk` 比 `7L` 更高。用短臂模型试算会让轨迹更短，不会解释“旧系统真实导出更慢”。
|
||||
|
||||
模型 A/B：
|
||||
|
||||
| 样本 | 真实时长 | `LR_Mate_200iD_7L.robot` | `LR_Mate_200iD.robot` | 结论 |
|
||||
| --- | ---: | ---: | ---: | --- |
|
||||
| `UTTC_MS11` | `7.403046s` | `5.495112s` | `5.345600s` | 短臂模型方向更错 |
|
||||
| `EOL10_EAU_0` | `14.849788s` | `10.489800s` | `10.342456s` | 短臂模型方向更错 |
|
||||
|
||||
因此，如果现场确认机器人模型确实一致，差异层就不应继续放在 `.robot` 静态文件本身，而应放在旧服务端规划时的运行态：
|
||||
|
||||
- 服务端内部存在 `_GetJointLimits / _SetJointLimits`，说明规划消费的是一份可能被运行期覆写的 `current JointLimits`。
|
||||
- `ControllerClient.h` 的 `ExecuteFlyShotTraj(..., use_cache=false)` 明确说明旧服务端可以把计算好的轨迹保存在内存中并复用。
|
||||
- `SaveTrajInfo(name, method)` 没有 `use_cache` 参数，不能仅凭公开头文件判断它一定每次从当前配置重新规划。
|
||||
|
||||
当前更合理的解释是：
|
||||
|
||||
```text
|
||||
同一个 .robot
|
||||
-> SetUpRobot 初始化基础 JointLimits
|
||||
-> 旧服务端运行期间可能被 _SetJointLimits / 速度倍率联动 / 缓存轨迹 覆盖
|
||||
-> SaveTrajInfo 或 IsFlyShotTrajValid(save_traj=true) 导出的是真正规划时那份状态
|
||||
-> 当前 C# 每次用静态 .robot + RobotConfig 重新规划，所以时长更短
|
||||
```
|
||||
|
||||
尤其需要注意：`EOL10_EAU_0` 的 `新规划/真实` 比例为 `0.706394`，接近 `0.7`；`EOL9_EAU_90` 的比例为 `0.882873`，接近 `0.9`。这不像模型误差，更像历史导出时混入了某个运行态速度/限制倍率。`UTTC_MS11` 的 `0.742277` 不等于抓包确认的执行层 `0.7`，所以不能简单把所有样本都归因到 `SetSpeedRatio`，但“运行态规划约束不是静态模型值”仍是目前最强方向。
|
||||
|
||||
## 旧服务端与 GUI 二进制复核
|
||||
|
||||
2026-04-30 继续从旧系统二进制字符串中复核，重点看公开 Python/HTTP 层没有暴露出来的运行态对象。
|
||||
|
||||
### 服务端确实持有 runtime JointLimits
|
||||
|
||||
`../FlyingShot/FlyingShot/Python/ControllerServer/ControllerServer.cpython-37m-x86_64-linux-gnu.so` 中能稳定看到以下方法和关键字：
|
||||
|
||||
```text
|
||||
ControllerServer.ControllerServer._GetJointLimits
|
||||
ControllerServer.ControllerServer._SetJointLimits
|
||||
ControllerServer.ControllerServer._IsWaypointInJointLimits
|
||||
ControllerServer.ControllerServer._IsTrajInJointLimits
|
||||
ControllerServer.ControllerServer._IsTrajInJerkLimits
|
||||
ControllerServer.ControllerServer._ExecuteFlyShotTraj
|
||||
ControllerServer.ControllerServer._SaveTrajInfo
|
||||
ControllerServer.ControllerServer._IsFlyShotTrajValid
|
||||
SetVelocityLimit
|
||||
SetAccelerationLimit
|
||||
SetJerkLimit
|
||||
GetMaxVelocity
|
||||
GetMaxAcceleration
|
||||
GetMaxJerk
|
||||
m_acc_limit
|
||||
m_jerk_limit
|
||||
save_traj_only
|
||||
use_cache
|
||||
```
|
||||
|
||||
这比公开 `ControllerClient.h` 暴露的信息更多。它说明旧服务端内部不是只把 `.robot` 静态值直接传给 `TrajectoryRnICSP`，而是存在一份可以查询、设置、校验、再用于规划的运行期 `JointLimits`。
|
||||
|
||||
### GUI 也直接接触规划约束与保存逻辑
|
||||
|
||||
旧 GUI 二进制里也能看到同一条链：
|
||||
|
||||
- `../FlyingShot/FlyingShot/Python/GUI/Robot/RobotManager.cpython-37m-x86_64-linux-gnu.so`
|
||||
- `GetJointLimits`
|
||||
- `TrajectoryRnICSP`
|
||||
- `IsTrajInJointLimits`
|
||||
- `IsTrajInJerkLimits`
|
||||
- `acc_limit`
|
||||
- `jerk_limit`
|
||||
- `../FlyingShot/FlyingShot/Python/GUI/Robot/RobotConfig.cpython-37m-x86_64-linux-gnu.so`
|
||||
- `SaveTraj`
|
||||
- `m_acc_limit`
|
||||
- `m_jerk_limit`
|
||||
- `../FlyingShot/FlyingShot/Python/GUI/Panels/FlyshotDockPanel.cpython-37m-x86_64-linux-gnu.so`
|
||||
- `__SaveTraj`
|
||||
- `IsTrajInJointLimits`
|
||||
- `IsTrajInJerkLimits`
|
||||
- `m_acc_limit`
|
||||
- `m_jerk_limit`
|
||||
|
||||
这说明旧 GUI 的“保存轨迹/检查轨迹”路径很可能不是简单调用公开 `ControllerClient.SaveTrajInfo` 后结束，而是直接拿当前 `JointLimits + acc_limit + jerk_limit` 做规划、合法性检查或保存。
|
||||
|
||||
### UAES 接口没有显式对齐 JointLimits
|
||||
|
||||
`../flyshot-uaes-interface/main.py` 中 `/execute_flyshot/` 的执行路径是：
|
||||
|
||||
```text
|
||||
c.ExecuteFlyShotTraj(name=name, move_to_start=True, method="icsp", save_traj=True)
|
||||
```
|
||||
|
||||
`/set_speedRatio/` 是单独接口：
|
||||
|
||||
```text
|
||||
c.SetSpeedRatio(speed)
|
||||
```
|
||||
|
||||
同时，`../flyshot-uaes-interface/lib/PyControllerClient.cpython-37m-x86_64-linux-gnu.so` 和 `../flyshot-uaes-interface/lib/libControllerClient.so` 中只看到公开客户端侧的：
|
||||
|
||||
```text
|
||||
GetSpeedRatio
|
||||
SetSpeedRatio
|
||||
ExecuteFlyShotTraj
|
||||
SaveTrajInfo
|
||||
IsFlyShotTrajValid
|
||||
JointLimits
|
||||
```
|
||||
|
||||
没有看到客户端侧 `GetJointLimits / SetJointLimits` 符号。也就是说，UAES Python 服务本身大概率没有主动把旧服务端的 runtime JointLimits 设置成某个值；如果现场旧导出时的 limits 被改过，更可能来自：
|
||||
|
||||
- 旧 GUI 初始化/保存路径；
|
||||
- 旧服务端内部默认初始化；
|
||||
- 服务端隐藏 TCP JSON 方法；
|
||||
- 历史上某次执行/保存后留下的缓存结果。
|
||||
|
||||
### 样本文件与配置文件可能不是同一次运行态
|
||||
|
||||
新增一个需要警惕的现象：
|
||||
|
||||
- `../Rvbust/EOL9 EAU 0/eol9_eau_0.json` 中 `acc_limit=1`、`jerk_limit=1`。
|
||||
- `../Rvbust/EOL9 EAU 90/eol9_eau_90.json` 中 `acc_limit=0.8`、`jerk_limit=0.8`。
|
||||
- 但两个目录下保存的真实 `JointTraj.txt` 内容和时长一致。
|
||||
|
||||
哈希复核：
|
||||
|
||||
```text
|
||||
EOL9 EAU 0 JointTraj.txt SHA256=DFD8E1130742CFB4ED72F70D0E8CA4E3A16F421E0D0D9D921B9F5177717536EC
|
||||
EOL9 EAU 90 JointTraj.txt SHA256=DFD8E1130742CFB4ED72F70D0E8CA4E3A16F421E0D0D9D921B9F5177717536EC
|
||||
eol9_eau_0.json SHA256=354D0D3F71499951976504802C4B2860132D1E4FF753738715A500529CD0BB68
|
||||
eol9_eau_90.json SHA256=7F854AA227D842CAE734AFA378FEEFA742D797F99FBE536E1B98DF981CD32B27
|
||||
```
|
||||
|
||||
这说明不能默认认为“某个 JSON 文件当前内容”就一定是旁边 `Data/JointTraj.txt` 的生成状态。旧系统的保存文件可能来自缓存、拷贝、历史运行态，或 GUI/服务端中未落盘到该 JSON 的当前 `JointLimits`。
|
||||
|
||||
本轮新增证据把方向进一步收敛为：
|
||||
|
||||
```text
|
||||
同一个 .robot 文件本身不是问题核心；
|
||||
真正影响时长的是旧系统规划瞬间的 effective JointLimits；
|
||||
但这份状态没有出现在现有配置、机器人侧抓包或 50001 公开 JSON 中。
|
||||
```
|
||||
|
||||
如果未来能直接进入旧服务端进程，仍可在 `SaveTrajInfo` / `IsFlyShotTrajValid(save_traj=true)` 前后抓取 `_GetJointLimits` 返回值，并把它与 `.robot` 原始 `vel/acc/jerk` 和当前 JSON 的 `acc_limit/jerk_limit` 做数值对比。但这不再阻塞 replacement 的现场对齐：当前设计默认用显式内部规划加速度参数补齐这份不可见状态。
|
||||
|
||||
## 当前判断
|
||||
|
||||
当前最可信的解释是：
|
||||
|
||||
1. 旧 RVBUST/FlyingShot 生成真实 `JointTraj.txt` 时，规划阶段使用的有效 joint limits 并不总是 `.robot` 文件中的原始 `velocity / acceleration / jerk`。
|
||||
2. 这些有效 joint limits 可能来自服务运行期状态，例如旧服务端内部的 `_SetJointLimits`、上层 GUI/脚本初始化流程、机器人环境配置，或其他未落入当前 JSON 文件的运行时参数。
|
||||
3. 现有现场 JSON 中只明确保存了：
|
||||
- `acc_limit`
|
||||
- `jerk_limit`
|
||||
- `adapt_icsp_try_num`
|
||||
- IO 相关配置
|
||||
4. 已重新抓取机器人侧 `10010/10012/60015` 和本机 `50001/TCP+JSON`，仍没有看到 `JointLimits / velocity / acceleration / jerk / acc_limit / jerk_limit` 通过公开链路在规划时下发。
|
||||
5. 目前没有证据表明现场配置文件或公开 TCP JSON 显式保存了一个“规划速度倍率”或“规划加速度限制”。
|
||||
|
||||
因此，`0.742277` 不应被理解为固定业务常量。它只是 `UTTC_MS11` 在当前 C# 默认约束和真实导出结果之间反推出来的等效规划倍率。
|
||||
|
||||
## 兼容设计决策
|
||||
|
||||
由于重新抓包后仍抓不到旧系统的 effective limits，新系统后续不再继续假设公开链路会传入这份数据，而是采用 replacement-only 的显式规划约束参数补齐不可见状态。
|
||||
|
||||
参数分层如下：
|
||||
|
||||
1. `acc_limit / jerk_limit`
|
||||
- 来源：旧 `RobotConfig.json` 中已经存在的字段。
|
||||
- 语义：继续作为旧配置的基础倍率，参与 `.robot` 模型加载。
|
||||
- 限制：现场样本中 `acc_limit=1`、`jerk_limit=1` 时，不能解释旧导出轨迹更慢的问题。
|
||||
|
||||
2. `planning_acceleration_scale`
|
||||
- 来源：新系统内部兼容参数，不声称来自旧 RVBUST 配置或抓包。
|
||||
- 语义：只用于规划阶段，额外缩放 `JointLimit.AccelerationLimit`，用于复现旧服务端不可见的保守加速度约束。
|
||||
- 默认值：`1.0`，表示不额外限制。
|
||||
- 现场校准：若按纯加速度限制解释 `UTTC_MS11_TEST01`，可先用 `(5.814370 / 7.805885)^2 ≈ 0.5548` 作为候选起点，再用真实 `JointTraj.txt` 对拍确认。
|
||||
|
||||
3. `planning_speed_scale`
|
||||
- 来源：当前 C# 已支持的显式兼容字段。
|
||||
- 语义：把整条规划时间轴按速度倍率解释，联动缩放速度、加速度、jerk。
|
||||
- 定位：保留为临时整体验证开关；当后续落地 `planning_acceleration_scale` 后，现场默认优先使用加速度限制参数，而不是把 `planning_speed_scale` 当成旧系统事实。
|
||||
|
||||
当前 C# 已支持的 `planning_speed_scale` 形式为：
|
||||
|
||||
```json
|
||||
{
|
||||
"robot": {
|
||||
"planning_speed_scale": 0.742277
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
该字段只用于规划阶段：
|
||||
|
||||
- `vel *= planning_speed_scale`
|
||||
- `acc *= planning_speed_scale^2`
|
||||
- `jerk *= planning_speed_scale^3`
|
||||
|
||||
它不等同于运行时 `/set_speedRatio/`，也不改变 J519 的 8ms 发送周期。运行阶段仍按：
|
||||
|
||||
```text
|
||||
t_send = k * 0.008
|
||||
t_traj = t_send * speed_ratio
|
||||
```
|
||||
|
||||
从已生成轨迹中重采样。
|
||||
|
||||
由于现场真实配置和本轮抓包中都没有找到这类倍率，所有 `planning_*` 字段都必须标注为 replacement-only 兼容校准参数，不能声称它们来自旧配置文件或公开 TCP JSON。
|
||||
|
||||
## 后续设计方向
|
||||
|
||||
1. 默认不再把运行时 `speed_ratio` 混入 `IsFlyshotTrajectoryValid` / `SaveTrajectoryInfo` 的规划时间计算。
|
||||
2. 后续实现优先新增 `planning_acceleration_scale`，只限制规划加速度，并将其写入 `RobotConfig.json` 的 `robot` 节点或当前现场默认配置。
|
||||
3. 若只需快速对齐整条时间轴，可临时使用现有 `planning_speed_scale`；但文档、日志和配置说明必须标注它是新系统校准值。
|
||||
4. 如果未来能直接调用旧服务端 `_GetJointLimits`，再用返回值替换当前反推参数；在此之前，显式内部参数是当前可控且可审计的兼容策略。
|
||||
202
docs/python-client-interface-reverse-engineering.md
Normal file
202
docs/python-client-interface-reverse-engineering.md
Normal file
@@ -0,0 +1,202 @@
|
||||
# Python ControllerClient 接口逆向记录
|
||||
|
||||
## 背景
|
||||
|
||||
本记录用于确认旧 `PyControllerClient` 对 Python 暴露了哪些接口，尤其确认是否能通过 Python client 直接查询或设置旧服务端运行态 `JointLimits`。
|
||||
|
||||
复核对象：
|
||||
|
||||
```text
|
||||
../flyshot-uaes-interface/lib/PyControllerClient.cpython-37m-x86_64-linux-gnu.so
|
||||
../FlyingShot/FlyingShot/Lib/PyControllerClient.cpython-37m-x86_64-linux-gnu.so
|
||||
../flyshot-uaes-interface/lib/libControllerClient.so
|
||||
../FlyingShot/FlyingShot/Lib/libControllerClient.so
|
||||
../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h
|
||||
../FlyingShot/FlyingShot/Include/ControllerClient/Types.h
|
||||
../flyshot-uaes-interface/UseControllerClient.py
|
||||
../flyshot-uaes-interface/main.py
|
||||
```
|
||||
|
||||
两份 Python 扩展与两份底层 client 库哈希一致：
|
||||
|
||||
```text
|
||||
PyControllerClient.cpython-37m-x86_64-linux-gnu.so
|
||||
SHA256=648CC23CBC6DF83822B58AC4A10211EE1DF8029AD8933D31032187748DF7F4BC
|
||||
|
||||
libControllerClient.so
|
||||
SHA256=6D6FD3F20F0791F1CF11EEE5B1D479E2DCB6A1A2C8AB00A1165575BAB4B62813
|
||||
```
|
||||
|
||||
因此 `flyshot-uaes-interface/lib` 与 `FlyingShot/FlyingShot/Lib` 中的 Python client 可视为同一份接口。
|
||||
|
||||
## 暴露的 Python 类型
|
||||
|
||||
`PyControllerClient` 暴露以下类型：
|
||||
|
||||
| 类型 | 来源 | 说明 |
|
||||
| --- | --- | --- |
|
||||
| `ControllerClient` | `ControllerClient.h` | TCP JSON client，高层控制入口 |
|
||||
| `JointPositions` | `Types.h` | 关节位置容器，可用 6 维列表构造，也支持下标读写 |
|
||||
| `Pose` | `Types.h` | TCP/末端位姿容器，C++ 侧为 7 元数组 |
|
||||
| `JointLimits` | `Types.h` | 关节上下限、速度、加速度、jerk 容器 |
|
||||
| `IOType` | `Types.h` | IO 枚举 |
|
||||
|
||||
`IOType` 的枚举值：
|
||||
|
||||
```text
|
||||
IOType.kIOTypeDI = 1
|
||||
IOType.kIOTypeDO = 2
|
||||
IOType.kIOTypeRI = 8
|
||||
IOType.kIOTypeRO = 9
|
||||
```
|
||||
|
||||
## ControllerClient 暴露方法
|
||||
|
||||
二进制字符串和 C++ 公开头文件交叉确认，Python client 暴露的方法为：
|
||||
|
||||
| Python 方法 | 典型调用 | 返回形态 | 说明 |
|
||||
| --- | --- | --- | --- |
|
||||
| `ConnectServer` | `c.ConnectServer(server_ip="127.0.0.1", port=50001)` | `bool` | 连接旧 `50001/TCP+JSON` 服务端 |
|
||||
| `GetServerVersion` | `c.GetServerVersion()` | `str` | Python 包装层把 C++ out 参数折叠成返回值 |
|
||||
| `GetClientVersion` | `c.GetClientVersion()` | `str` | 获取 client 版本 |
|
||||
| `SetUpRobot` | `c.SetUpRobot("FANUC_LR_Mate_200iD")` | `bool` | 按机器人名称初始化服务端机器人模型 |
|
||||
| `SetUpRobotFromEnv` | `c.SetUpRobotFromEnv(env_file)` | `bool` | 从环境文件初始化 |
|
||||
| `IsSetUp` | `c.IsSetUp()` | `bool` | 判断服务端是否已经初始化机器人 |
|
||||
| `SetShowTCP` | `c.SetShowTCP(is_show=True, axis_length=0.1, axis_size=2)` | `bool` | 仿真显示 TCP 坐标系 |
|
||||
| `GetName` | `c.GetName()` | `str` | 获取机器人名称 |
|
||||
| `GetDoF` | `c.GetDoF()` | `int` | 获取自由度 |
|
||||
| `SetActiveController` | `c.SetActiveController(sim=True)` | `bool` | 切换仿真/真实控制器 |
|
||||
| `Connect` | `c.Connect("192.168.10.101")` | `bool` | 连接机器人控制器 |
|
||||
| `Disconnect` | `c.Disconnect()` | `bool` | 断开机器人控制器 |
|
||||
| `EnableRobot` | `c.EnableRobot()` / `c.EnableRobot(8)` | `bool` | 使能机器人，参数为 buffer size |
|
||||
| `DisableRobot` | `c.DisableRobot()` | `bool` | 下使能 |
|
||||
| `GetSpeedRatio` | `c.GetSpeedRatio()` | `float` | 获取执行速度倍率 |
|
||||
| `SetSpeedRatio` | `c.SetSpeedRatio(0.8)` | `bool` | 设置执行速度倍率 |
|
||||
| `GetTCP` | `res, tcp = c.GetTCP()` | `(bool, Pose)` | 获取 TCP |
|
||||
| `SetTCP` | `c.SetTCP(tcp)` | `bool` | 设置 TCP |
|
||||
| `GetIO` | `res, value = c.GetIO(port=1, io_type=IOType.kIOTypeDI)` | `(bool, bool)` | 读取 IO |
|
||||
| `SetIO` | `c.SetIO(port=1, value=True, io_type=IOType.kIOTypeDO)` | `bool` | 写 IO |
|
||||
| `StopMove` | `c.StopMove()` | `bool` | 停止运动 |
|
||||
| `GetJointPosition` | `res, joints = c.GetJointPosition()` | `(bool, JointPositions)` | 获取当前关节角 |
|
||||
| `GetPose` | `res, pose = c.GetPose()` | `(bool, Pose)` | 获取当前末端位姿 |
|
||||
| `GetNearestIK` | `res, ik = c.GetNearestIK(pose, joint_seed=joints)` | `(bool, JointPositions)` | 按 seed 求最近 IK |
|
||||
| `MoveJoint` | `c.MoveJoint(joint_positions)` | `bool` | 关节运动 |
|
||||
| `ExecuteTrajectory` | `c.ExecuteTrajectory(waypoints=[...], method="icsp", save_traj=True)` | `bool` | 执行普通轨迹 |
|
||||
| `UploadFlyShotTraj` | `c.UploadFlyShotTraj(name, waypoints, shot_flags, offset_values, addrs)` | `bool` | 上传飞拍轨迹 |
|
||||
| `DeleteFlyShotTraj` | `c.DeleteFlyShotTraj(name)` | `bool` | 删除飞拍轨迹 |
|
||||
| `ListFlyShotTraj` | `c.ListFlyShotTraj()` | `list[str]` | 列出已上传飞拍轨迹 |
|
||||
| `ExecuteFlyShotTraj` | `c.ExecuteFlyShotTraj(name, move_to_start=True, method="icsp", save_traj=True)` | `bool` | 执行飞拍轨迹 |
|
||||
| `SaveTrajInfo` | `c.SaveTrajInfo(name, method="icsp")` | `bool` | 保存规划结果到 `~/Rvbust/Data` |
|
||||
| `IsFlyShotTrajValid` | `valid, time = c.IsFlyShotTrajValid(name, method="icsp", save_traj=True)` | `(bool, float)` | 检查飞拍轨迹是否合法并返回规划时长 |
|
||||
|
||||
## 没有暴露的关键接口
|
||||
|
||||
本轮重点确认：Python client 暴露方法中没有看到：
|
||||
|
||||
```text
|
||||
GetJointLimits
|
||||
SetJointLimits
|
||||
_GetJointLimits
|
||||
_SetJointLimits
|
||||
```
|
||||
|
||||
虽然 `PyControllerClient` 绑定了 `JointLimits` 类型，并且 `libControllerClient.so` 中存在 `JointLimits` 的输出运算符符号，但公开 `ControllerClient` 方法表中没有任何接收或返回 `JointLimits` 的 client 入口。
|
||||
|
||||
这和旧服务端二进制不同。旧服务端 `ControllerServer.cpython-37m-x86_64-linux-gnu.so` 中能看到：
|
||||
|
||||
```text
|
||||
ControllerServer.ControllerServer._GetJointLimits
|
||||
ControllerServer.ControllerServer._SetJointLimits
|
||||
ControllerServer.ControllerServer._IsWaypointInJointLimits
|
||||
ControllerServer.ControllerServer._IsTrajInJointLimits
|
||||
ControllerServer.ControllerServer._IsTrajInJerkLimits
|
||||
```
|
||||
|
||||
因此当前判断是：
|
||||
|
||||
```text
|
||||
Python client 公开 API 不能直接抓 runtime JointLimits；
|
||||
runtime JointLimits 查询能力存在于旧服务端内部，而不是 PyControllerClient 公开接口中。
|
||||
```
|
||||
|
||||
## UAES Python 服务实际使用的接口
|
||||
|
||||
`../flyshot-uaes-interface/main.py` 只使用了公开 client 方法：
|
||||
|
||||
- `ConnectServer`
|
||||
- `SetUpRobot`
|
||||
- `IsSetUp`
|
||||
- `EnableRobot`
|
||||
- `DisableRobot`
|
||||
- `SetActiveController`
|
||||
- `Connect`
|
||||
- `GetName`
|
||||
- `GetServerVersion`
|
||||
- `GetDoF`
|
||||
- `GetSpeedRatio`
|
||||
- `SetTCP`
|
||||
- `GetTCP`
|
||||
- `SetIO`
|
||||
- `GetJointPosition`
|
||||
- `MoveJoint`
|
||||
- `ListFlyShotTraj`
|
||||
- `UploadFlyShotTraj`
|
||||
- `ExecuteFlyShotTraj`
|
||||
- `SetSpeedRatio`
|
||||
- `DeleteFlyShotTraj`
|
||||
- `GetPose`
|
||||
|
||||
其中 `/execute_flyshot/` 调用：
|
||||
|
||||
```text
|
||||
c.ExecuteFlyShotTraj(name=name, move_to_start=True, method="icsp", save_traj=True)
|
||||
```
|
||||
|
||||
`/set_speedRatio/` 调用：
|
||||
|
||||
```text
|
||||
c.SetSpeedRatio(speed)
|
||||
```
|
||||
|
||||
没有看到 UAES 服务通过 Python client 设置或查询 `JointLimits`。
|
||||
|
||||
2026-04-30 追加 `50001/TCP+JSON` 抓包复核后，这个判断进一步收敛。`all-50001-plan.pcap` 中已经抓到两次真实规划/执行请求：
|
||||
|
||||
```json
|
||||
{"cmd":"SetSpeedRatio","ratio":0.5}
|
||||
{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
|
||||
{"cmd":"SetSpeedRatio","ratio":1.0}
|
||||
{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
|
||||
```
|
||||
|
||||
请求中仍没有 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此公开 Python client 与公开 50001 JSON 都没有把规划限制作为参数传给 `ExecuteFlyShotTraj`。
|
||||
|
||||
另外，`main.py` 的 `/execute_trajectory/` 中出现：
|
||||
|
||||
```text
|
||||
c.yrxm(waypoints=joint_positions, method='icsp', save_traj=True)
|
||||
```
|
||||
|
||||
`yrxm` 不在 `PyControllerClient` 暴露方法表中，按上下文应是 `ExecuteTrajectory` 的笔误；这条不影响飞拍主路径 `/execute_flyshot/`。
|
||||
|
||||
## 对当前时长差异调查的含义
|
||||
|
||||
如果要抓旧系统规划时使用的 effective `vel/acc/jerk`，优先级应调整为：
|
||||
|
||||
1. 在旧服务端进程内直接调用或插桩 `_GetJointLimits`。
|
||||
2. 或者逆向 `50001/TCP+JSON` 的 hidden command envelope，再尝试发送 `GetJointLimits` / `_GetJointLimits`。
|
||||
3. 不应指望现有 `PyControllerClient.ControllerClient` 直接提供 `GetJointLimits`。
|
||||
|
||||
如果短期内无法进入旧服务端内部，新系统不再继续等待这份不可见状态；设计上使用 replacement-only 的内部规划约束参数补齐，优先限制规划加速度，例如 `planning_acceleration_scale`。该参数必须标注为新系统校准值，不能写成旧 Python client 或旧 50001 JSON 的公开字段。
|
||||
|
||||
最小现场验证脚本可以先确认 Python client 暴露面：
|
||||
|
||||
```python
|
||||
from PyControllerClient import ControllerClient
|
||||
|
||||
c = ControllerClient()
|
||||
names = [x for x in dir(c) if "Limit" in x or "limit" in x]
|
||||
print(names)
|
||||
```
|
||||
|
||||
按当前二进制逆向，预期不会出现 `GetJointLimits` / `SetJointLimits`。
|
||||
62
docs/robot-joint-limit-table-20260505.md
Normal file
62
docs/robot-joint-limit-table-20260505.md
Normal file
@@ -0,0 +1,62 @@
|
||||
# 机器人六轴限值提取表
|
||||
|
||||
记录时间：2026-05-05
|
||||
|
||||
## 1. 目的
|
||||
|
||||
本文档把当前机器人模型中的六轴基础限值整理成一份固定表格，明确区分以下几类信息：
|
||||
|
||||
- 模型原始值：来自 `LR_Mate_200iD_7L_clean.json` 中每个关节的 `limit.velocity / limit.acceleration / limit.jerk / limit.effort`
|
||||
- 配置倍率：来自当前运行配置 `Config/RobotConfig.json` 中的 `acc_limit / jerk_limit`
|
||||
- 运行时有效值：模型原始值叠加当前配置倍率后的结果
|
||||
|
||||
本表只覆盖六个旋转关节 `Joint1` 到 `Joint6`。
|
||||
`JointEffector` 属于末端固定关节，不计入“每个轴”的速度、加速度、跃度统计。
|
||||
|
||||
## 2. 当前取值规则
|
||||
|
||||
当前仓库运行时对六轴限值的读取规则是：
|
||||
|
||||
- `velocity_eff = velocity_base`
|
||||
- `acceleration_eff = acceleration_base * acc_limit`
|
||||
- `jerk_eff = jerk_base * jerk_limit`
|
||||
|
||||
当前 `Config/RobotConfig.json` 中的倍率为：
|
||||
|
||||
- `acc_limit = 1`
|
||||
- `jerk_limit = 1`
|
||||
|
||||
因此本次表格中的“基础值”和“有效值”数值相同。
|
||||
|
||||
## 3. 六轴限值表
|
||||
|
||||
| Joint | velocity_base | acceleration_base | jerk_base | effort_raw | acc_limit | jerk_limit | velocity_eff | acceleration_eff | jerk_eff | 备注 |
|
||||
| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | --- |
|
||||
| Joint1 | 6.45 | 26.90 | 224.22 | 0.0 | 1 | 1 | 6.45 | 26.90 | 224.22 | 模型字段存在，`effort` 当前为 0 |
|
||||
| Joint2 | 5.41 | 22.54 | 187.86 | 0.0 | 1 | 1 | 5.41 | 22.54 | 187.86 | 模型字段存在，`effort` 当前为 0 |
|
||||
| Joint3 | 7.15 | 29.81 | 248.46 | 0.0 | 1 | 1 | 7.15 | 29.81 | 248.46 | 模型字段存在，`effort` 当前为 0 |
|
||||
| Joint4 | 9.59 | 39.99 | 333.30 | 0.0 | 1 | 1 | 9.59 | 39.99 | 333.30 | 模型字段存在，`effort` 当前为 0 |
|
||||
| Joint5 | 9.51 | 39.63 | 330.27 | 0.0 | 1 | 1 | 9.51 | 39.63 | 330.27 | 模型字段存在，`effort` 当前为 0 |
|
||||
| Joint6 | 17.45 | 72.72 | 606.01 | 0.0 | 1 | 1 | 17.45 | 72.72 | 606.01 | 模型字段存在，`effort` 当前为 0 |
|
||||
|
||||
## 4. 关于“电流信息”的说明
|
||||
|
||||
这份模型文件里确实有 `limit.effort` 字段，但当前证据只能说明：
|
||||
|
||||
- 它是模型文件中的一个静态字段
|
||||
- 当前六轴以及 `JointEffector` 的 `effort` 都是 `0.0`
|
||||
- 当前 `flyshot-replacement` 代码链路没有把它当作实时电流来源来使用
|
||||
|
||||
因此当前结论应固定为：
|
||||
|
||||
- `velocity / acceleration / jerk` 可以从这份模型文档中提取
|
||||
- `effort` 只能当作模型原始字段记录
|
||||
- `effort` 不能直接解释为现场真实电流，也不能替代 J519 反馈中的电机电流数据
|
||||
|
||||
## 5. 后续使用约定
|
||||
|
||||
后续如果有人问“每个轴的速度、加速度、跃度是不是从这个文档来的”，默认回答应为：
|
||||
|
||||
- 是，六轴基础限值来自模型文件中的 `joint.limit`
|
||||
- 运行时有效加速度和有效跃度还要再乘 `RobotConfig.json` 的全局倍率
|
||||
- 不是，真实电流不要从这个文件里的 `effort` 去推断
|
||||
6
global.json
Normal file
6
global.json
Normal file
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"sdk": {
|
||||
"version": "8.0.420",
|
||||
"rollForward": "disable"
|
||||
}
|
||||
}
|
||||
@@ -11,7 +11,36 @@ public sealed class ControllerClientCompatOptions
|
||||
public string ServerVersion { get; set; } = "flyshot-replacement-controller-client-compat/0.1.0";
|
||||
|
||||
/// <summary>
|
||||
/// 获取或设置父工作区根目录；为空时由运行时自动推断。
|
||||
/// 获取或设置运行配置根目录；为空时默认使用程序基目录下的 Config。
|
||||
/// </summary>
|
||||
public string? ConfigRoot { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取或设置旧父工作区根目录；仅用于测试或旧样本显式兼容。
|
||||
/// </summary>
|
||||
public string? WorkspaceRoot { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 解析运行配置根目录，确保运行时默认不再依赖源码仓库位置。
|
||||
/// </summary>
|
||||
/// <returns>运行配置根目录的绝对路径。</returns>
|
||||
public string ResolveConfigRoot()
|
||||
{
|
||||
var root = string.IsNullOrWhiteSpace(ConfigRoot)
|
||||
? Path.Combine(AppContext.BaseDirectory, "Config")
|
||||
: ConfigRoot;
|
||||
|
||||
return Path.GetFullPath(root);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 解析显式配置的旧父工作区根目录；未配置时返回 null。
|
||||
/// </summary>
|
||||
/// <returns>旧父工作区根目录的绝对路径，或 null。</returns>
|
||||
public string? ResolveLegacyWorkspaceRoot()
|
||||
{
|
||||
return string.IsNullOrWhiteSpace(WorkspaceRoot)
|
||||
? null
|
||||
: Path.GetFullPath(WorkspaceRoot);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -9,12 +9,12 @@ namespace Flyshot.ControllerClientCompat;
|
||||
public sealed class ControllerClientCompatRobotCatalog
|
||||
{
|
||||
/// <summary>
|
||||
/// 保存当前现场支持的机器人名称到模型相对路径映射。
|
||||
/// 保存当前现场支持的机器人名称到运行目录 JSON 模型文件名映射。
|
||||
/// </summary>
|
||||
private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelMap = new Dictionary<string, string>(StringComparer.Ordinal)
|
||||
private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelFileMap = new Dictionary<string, string>(StringComparer.Ordinal)
|
||||
{
|
||||
["FANUC_LR_Mate_200iD"] = Path.Combine("FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot"),
|
||||
["FANUC_LR_Mate_200iD_7L"] = Path.Combine("FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot")
|
||||
["FANUC_LR_Mate_200iD"] = "LR_Mate_200iD_7L.json",
|
||||
["FANUC_LR_Mate_200iD_7L"] = "LR_Mate_200iD_7L.json"
|
||||
};
|
||||
|
||||
private readonly ControllerClientCompatOptions _options;
|
||||
@@ -24,7 +24,7 @@ public sealed class ControllerClientCompatRobotCatalog
|
||||
/// 初始化机器人兼容目录解析器。
|
||||
/// </summary>
|
||||
/// <param name="options">兼容层基础配置。</param>
|
||||
/// <param name="robotModelLoader">.robot 文件加载器。</param>
|
||||
/// <param name="robotModelLoader">机器人 JSON 模型加载器。</param>
|
||||
public ControllerClientCompatRobotCatalog(
|
||||
ControllerClientCompatOptions options,
|
||||
RobotModelLoader robotModelLoader)
|
||||
@@ -47,39 +47,28 @@ public sealed class ControllerClientCompatRobotCatalog
|
||||
throw new ArgumentException("机器人名称不能为空。", nameof(robotName));
|
||||
}
|
||||
|
||||
if (!SupportedRobotModelMap.TryGetValue(robotName, out var modelRelativePath))
|
||||
if (!SupportedRobotModelFileMap.TryGetValue(robotName, out var modelFileName))
|
||||
{
|
||||
throw new InvalidOperationException($"Unsupported robot name: {robotName}");
|
||||
}
|
||||
|
||||
var workspaceRoot = ResolveWorkspaceRoot();
|
||||
var modelPath = Path.Combine(workspaceRoot, modelRelativePath);
|
||||
var modelPath = ResolveModelPath(modelFileName);
|
||||
return _robotModelLoader.LoadProfile(modelPath, accLimitScale, jerkLimitScale);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 解析父工作区根目录，优先使用显式配置。
|
||||
/// 解析机器人模型路径，只从运行目录 Config/Models 读取当前现场固化的 JSON 模型。
|
||||
/// </summary>
|
||||
/// <returns>包含 `FlyingShot/` 与 `Rvbust/` 的父工作区根目录。</returns>
|
||||
private string ResolveWorkspaceRoot()
|
||||
/// <param name="modelFileName">运行目录 Config/Models 下的机器人 JSON 模型文件名。</param>
|
||||
/// <returns>可传给 JSON 模型加载器的模型文件绝对路径。</returns>
|
||||
private string ResolveModelPath(string modelFileName)
|
||||
{
|
||||
if (!string.IsNullOrWhiteSpace(_options.WorkspaceRoot))
|
||||
var configModelPath = Path.Combine(_options.ResolveConfigRoot(), "Models", modelFileName);
|
||||
if (File.Exists(configModelPath))
|
||||
{
|
||||
return Path.GetFullPath(_options.WorkspaceRoot);
|
||||
return configModelPath;
|
||||
}
|
||||
|
||||
var current = new DirectoryInfo(AppContext.BaseDirectory);
|
||||
while (current is not null)
|
||||
{
|
||||
// 宿主和测试都从 replacement 仓库内启动；找到 sln 后回退一级就是父工作区根目录。
|
||||
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
|
||||
{
|
||||
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
|
||||
}
|
||||
|
||||
current = current.Parent;
|
||||
}
|
||||
|
||||
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
|
||||
return "Not found";
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
using Flyshot.Core.Config;
|
||||
using Flyshot.Core.Domain;
|
||||
using Flyshot.Runtime.Common;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.ControllerClientCompat;
|
||||
|
||||
@@ -16,7 +17,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
private readonly IControllerRuntime _runtime;
|
||||
private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
|
||||
private readonly RobotConfigLoader _configLoader;
|
||||
private readonly IFlyshotTrajectoryStore _trajectoryStore;
|
||||
private readonly FlyshotTrajectoryArtifactWriter _artifactWriter;
|
||||
private readonly JsonFlyshotTrajectoryStore _trajectoryStore;
|
||||
private readonly ILogger<ControllerClientCompatService>? _logger;
|
||||
private RobotProfile? _activeRobotProfile;
|
||||
private string? _configuredRobotName;
|
||||
private CompatibilityRobotSettings? _robotSettings;
|
||||
@@ -34,21 +37,27 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
/// <param name="runtime">控制器运行时。</param>
|
||||
/// <param name="trajectoryOrchestrator">轨迹规划与触发编排器。</param>
|
||||
/// <param name="configLoader">旧版 RobotConfig.json 加载器。</param>
|
||||
/// <param name="trajectoryStore">已上传轨迹持久化存储。</param>
|
||||
/// <param name="artifactWriter">saveTrajectory 规划结果点位导出器。</param>
|
||||
/// <param name="trajectoryStore">统一 RobotConfig.json 持久化存储；为空时按配置根目录创建默认实例。</param>
|
||||
/// <param name="logger">日志记录器；允许测试直接构造时传入 null。</param>
|
||||
public ControllerClientCompatService(
|
||||
ControllerClientCompatOptions options,
|
||||
ControllerClientCompatRobotCatalog robotCatalog,
|
||||
IControllerRuntime runtime,
|
||||
ControllerClientTrajectoryOrchestrator trajectoryOrchestrator,
|
||||
RobotConfigLoader configLoader,
|
||||
IFlyshotTrajectoryStore trajectoryStore)
|
||||
FlyshotTrajectoryArtifactWriter? artifactWriter = null,
|
||||
JsonFlyshotTrajectoryStore? trajectoryStore = null,
|
||||
ILogger<ControllerClientCompatService>? logger = null)
|
||||
{
|
||||
_options = options ?? throw new ArgumentNullException(nameof(options));
|
||||
_robotCatalog = robotCatalog ?? throw new ArgumentNullException(nameof(robotCatalog));
|
||||
_runtime = runtime ?? throw new ArgumentNullException(nameof(runtime));
|
||||
_trajectoryOrchestrator = trajectoryOrchestrator ?? throw new ArgumentNullException(nameof(trajectoryOrchestrator));
|
||||
_configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
|
||||
_trajectoryStore = trajectoryStore ?? throw new ArgumentNullException(nameof(trajectoryStore));
|
||||
_artifactWriter = artifactWriter ?? new FlyshotTrajectoryArtifactWriter(_options, new RobotModelLoader());
|
||||
_trajectoryStore = trajectoryStore ?? new JsonFlyshotTrajectoryStore(_options, _configLoader);
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -90,6 +99,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
_connectedServerIp = serverIp;
|
||||
_connectedServerPort = port;
|
||||
}
|
||||
|
||||
_logger?.LogInformation("ConnectServer 完成: {ServerIp}:{Port}", serverIp, port);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -107,6 +118,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
/// <inheritdoc />
|
||||
public void SetUpRobot(string robotName)
|
||||
{
|
||||
_logger?.LogInformation("SetUpRobot 开始: robotName={RobotName}", robotName);
|
||||
|
||||
var robotSettings = TryLoadRobotSettings() ?? CreateDefaultRobotSettings();
|
||||
var robotProfile = _robotCatalog.LoadProfile(
|
||||
robotName,
|
||||
@@ -129,6 +142,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
_uploadedTrajectories[saved.Key] = saved.Value;
|
||||
}
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, 恢复轨迹数={TrajCount}",
|
||||
robotName,
|
||||
robotProfile.DegreesOfFreedom,
|
||||
robotSettings.AccLimitScale,
|
||||
robotSettings.JerkLimitScale,
|
||||
_uploadedTrajectories.Count);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -184,11 +205,15 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
throw new ArgumentException("控制器 IP 不能为空。", nameof(robotIp));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("Connect 开始: robotIp={RobotIp}", robotIp);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
_runtime.Connect(robotIp);
|
||||
}
|
||||
|
||||
_logger?.LogInformation("Connect 完成: robotIp={RobotIp}", robotIp);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -204,31 +229,37 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
/// <inheritdoc />
|
||||
public void EnableRobot(int bufferSize)
|
||||
{
|
||||
_logger?.LogInformation("EnableRobot 开始: bufferSize={BufferSize}", bufferSize);
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
_runtime.EnableRobot(bufferSize);
|
||||
}
|
||||
_logger?.LogInformation("EnableRobot 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public void DisableRobot()
|
||||
{
|
||||
_logger?.LogInformation("DisableRobot 开始");
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
_runtime.DisableRobot();
|
||||
}
|
||||
_logger?.LogInformation("DisableRobot 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public void StopMove()
|
||||
{
|
||||
_logger?.LogInformation("StopMove 开始");
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
_runtime.StopMove();
|
||||
}
|
||||
_logger?.LogInformation("StopMove 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -335,11 +366,17 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(jointPositions);
|
||||
|
||||
_logger?.LogInformation("MoveJoint 开始: 目标关节数={JointCount}", jointPositions.Count);
|
||||
_logger?.LogDebug("MoveJoint 目标关节: {Joints}", string.Join(", ", jointPositions.Select(j => j.ToString("F4"))));
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
_runtime.ExecuteTrajectory(CreateImmediateMoveResult(), jointPositions);
|
||||
var robot = RequireActiveRobot();
|
||||
EnsureRuntimeEnabled();
|
||||
ExecuteMoveJointAndWaitLocked(robot, jointPositions, "MoveJoint");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("MoveJoint 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -352,16 +389,31 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
throw new ArgumentException("轨迹路点不能为空。", nameof(waypoints));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("ExecuteTrajectory 开始: 路点数={WaypointCount}, method={Method}, saveTraj={SaveTraj}",
|
||||
waypoints.Count, options.Method, options.SaveTrajectory);
|
||||
_logger?.LogDebug("ExecuteTrajectory 路点详情: {Waypoints}",
|
||||
string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Select(j => j.ToString("F4")))}]")));
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
var robot = RequireActiveRobot();
|
||||
EnsureRuntimeEnabled();
|
||||
|
||||
// 普通轨迹必须按调用方指定 method 规划，再把规划结果交给运行时执行。
|
||||
var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options);
|
||||
var planningSpeedScale = RequireRobotSettings().PlanningSpeedScale;
|
||||
var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options, planningSpeedScale);
|
||||
_logger?.LogInformation(
|
||||
"ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}, planningSpeedScale={PlanningSpeedScale}",
|
||||
bundle.Result.Method,
|
||||
bundle.Result.Duration.TotalSeconds,
|
||||
bundle.Result.IsValid,
|
||||
bundle.Result.DenseJointTrajectory?.Count ?? 0,
|
||||
planningSpeedScale);
|
||||
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
|
||||
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
|
||||
}
|
||||
|
||||
_logger?.LogInformation("ExecuteTrajectory 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -379,6 +431,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(trajectory);
|
||||
|
||||
_logger?.LogInformation(
|
||||
"UploadTrajectory 开始: name={Name}, waypoints={WaypointCount}, shotFlags={ShotCount}",
|
||||
trajectory.Name,
|
||||
trajectory.Waypoints.Count,
|
||||
trajectory.ShotFlags.Count(static f => f));
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRuntimeEnabled();
|
||||
@@ -388,6 +446,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
var settings = _robotSettings ?? CreateDefaultRobotSettings();
|
||||
_trajectoryStore.Save(robotName, settings, trajectory);
|
||||
}
|
||||
|
||||
_logger?.LogInformation("UploadTrajectory 完成: name={Name}", trajectory.Name);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -408,6 +468,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"ExecuteTrajectoryByName 开始: name={Name}, method={Method}, moveToStart={MoveToStart}, useCache={UseCache}, wait={Wait}",
|
||||
name, options.Method, options.MoveToStart, options.UseCache, options.Wait);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
var robot = RequireActiveRobot();
|
||||
@@ -415,24 +479,107 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
|
||||
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
|
||||
{
|
||||
_logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹不存在 name={Name}", name);
|
||||
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
||||
}
|
||||
|
||||
if (trajectory.Waypoints.Count == 0)
|
||||
{
|
||||
_logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹无路点 name={Name}", name);
|
||||
throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
|
||||
}
|
||||
|
||||
// 已上传飞拍轨迹必须按调用方指定 method 生成 shot timeline 后再交给运行时。
|
||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, RequireRobotSettings());
|
||||
var settings = RequireRobotSettings();
|
||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale);
|
||||
ExportFlyshotArtifactsIfRequested(name, options.SaveTrajectory, robot, bundle);
|
||||
_logger?.LogInformation(
|
||||
"ExecuteTrajectoryByName 规划完成: name={Name}, method={Method}, 时长={Duration}s, 触发事件数={TriggerCount}, 使用缓存={UsedCache}, planningSpeedScale={PlanningSpeedScale}",
|
||||
name,
|
||||
bundle.Result.Method,
|
||||
bundle.Result.Duration.TotalSeconds,
|
||||
bundle.Result.TriggerTimeline.Count,
|
||||
bundle.Result.UsedCache,
|
||||
settings.PlanningSpeedScale);
|
||||
|
||||
if (options.MoveToStart)
|
||||
{
|
||||
_runtime.ExecuteTrajectory(CreateImmediateMoveResult(), bundle.PlannedTrajectory.PlannedWaypoints[0].Positions);
|
||||
_logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
|
||||
ExecuteMoveJointAndWaitLocked(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
|
||||
}
|
||||
|
||||
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
|
||||
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
|
||||
if (options.Wait)
|
||||
{
|
||||
WaitForRuntimeMotionComplete("ExecuteTrajectoryByName.flyshot", bundle.Result.Duration);
|
||||
}
|
||||
}
|
||||
|
||||
_logger?.LogInformation("ExecuteTrajectoryByName 完成: name={Name}", name);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从当前关节位置生成临时 PTP 稠密轨迹并阻塞等待运行时完成，避免后续 J519 目标发生突变。
|
||||
/// </summary>
|
||||
/// <param name="robot">当前机器人模型。</param>
|
||||
/// <param name="targetJointPositions">目标关节位置，单位为弧度。</param>
|
||||
/// <param name="operationName">用于日志和超时异常的操作名。</param>
|
||||
private void ExecuteMoveJointAndWaitLocked(RobotProfile robot, IReadOnlyList<double> targetJointPositions, string operationName)
|
||||
{
|
||||
var currentJointPositions = _runtime.GetJointPositions();
|
||||
EnsureJointVector(currentJointPositions, robot.DegreesOfFreedom, nameof(currentJointPositions));
|
||||
EnsureJointVector(targetJointPositions, robot.DegreesOfFreedom, nameof(targetJointPositions));
|
||||
|
||||
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||
var moveResult = MoveJointTrajectoryGenerator.CreateResult(robot, currentJointPositions, targetJointPositions, speedRatio, _logger);
|
||||
_logger?.LogInformation(
|
||||
"{OperationName} PTP规划完成: 当前速度倍率={SpeedRatio}, 规划时长={Duration}s, 采样点数={SampleCount}",
|
||||
operationName,
|
||||
speedRatio,
|
||||
moveResult.Duration.TotalSeconds,
|
||||
moveResult.DenseJointTrajectory?.Count ?? 0);
|
||||
|
||||
_runtime.ExecuteTrajectory(moveResult, targetJointPositions);
|
||||
WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 等待运行时报告当前运动结束，用于把 move_to_start 与正式飞拍轨迹串行化。
|
||||
/// </summary>
|
||||
/// <param name="operationName">用于日志和超时异常的操作名。</param>
|
||||
/// <param name="plannedDuration">规划运动时长。</param>
|
||||
private void WaitForRuntimeMotionComplete(string operationName, TimeSpan plannedDuration)
|
||||
{
|
||||
var timeout = ResolveMotionCompletionTimeout(plannedDuration);
|
||||
var deadline = DateTimeOffset.UtcNow.Add(timeout);
|
||||
|
||||
while (true)
|
||||
{
|
||||
if (!_runtime.GetSnapshot().IsInMotion)
|
||||
{
|
||||
_logger?.LogInformation("{OperationName} 运动完成", operationName);
|
||||
return;
|
||||
}
|
||||
|
||||
if (DateTimeOffset.UtcNow >= deadline)
|
||||
{
|
||||
throw new TimeoutException($"{operationName} 等待运动完成超时，planned={plannedDuration.TotalSeconds:F3}s, timeout={timeout.TotalSeconds:F3}s。");
|
||||
}
|
||||
|
||||
Thread.Sleep(TimeSpan.FromMilliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据规划时长推导等待超时，给真机通信和状态更新留出余量。
|
||||
/// </summary>
|
||||
/// <param name="plannedDuration">规划运动时长。</param>
|
||||
/// <returns>等待运行时完成的最大时长。</returns>
|
||||
private static TimeSpan ResolveMotionCompletionTimeout(TimeSpan plannedDuration)
|
||||
{
|
||||
var timeoutSeconds = Math.Max(5.0, plannedDuration.TotalSeconds * 3.0 + 2.0);
|
||||
return TimeSpan.FromSeconds(timeoutSeconds);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -443,25 +590,34 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("SaveTrajectoryInfo 开始: name={Name}, method={Method}", name, method);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
var robot = RequireActiveRobot();
|
||||
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
|
||||
{
|
||||
_logger?.LogWarning("SaveTrajectoryInfo 失败: 轨迹不存在 name={Name}", name);
|
||||
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
||||
}
|
||||
|
||||
// 先通过规划校验避免静默接受非法参数，同时把轨迹信息强制刷写到本地 JSON。
|
||||
_ = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
||||
var planningSettings = RequireRobotSettings();
|
||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
||||
robot,
|
||||
trajectory,
|
||||
new FlyshotExecutionOptions(saveTrajectory: true, method: method),
|
||||
RequireRobotSettings());
|
||||
new FlyshotExecutionOptions(useCache:false,saveTrajectory: true, method: method),
|
||||
planningSettings,
|
||||
planningSettings.PlanningSpeedScale);
|
||||
_logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
|
||||
ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
|
||||
|
||||
var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
||||
var settings = _robotSettings ?? CreateDefaultRobotSettings();
|
||||
_trajectoryStore.Save(robotName, settings, trajectory);
|
||||
// var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
||||
// var settings = _robotSettings ?? CreateDefaultRobotSettings();
|
||||
// _trajectoryStore.Save(robotName, settings, trajectory);
|
||||
}
|
||||
|
||||
_logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -472,21 +628,30 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("IsFlyshotTrajectoryValid 开始: name={Name}, method={Method}", name, method);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
var robot = RequireActiveRobot();
|
||||
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
|
||||
{
|
||||
_logger?.LogWarning("IsFlyshotTrajectoryValid 失败: 轨迹不存在 name={Name}", name);
|
||||
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
||||
}
|
||||
|
||||
var planningSettings = RequireRobotSettings();
|
||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
||||
robot,
|
||||
trajectory,
|
||||
new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
|
||||
RequireRobotSettings());
|
||||
planningSettings,
|
||||
planningSettings.PlanningSpeedScale);
|
||||
ExportFlyshotArtifactsIfRequested(name, saveTrajectory, robot, bundle);
|
||||
|
||||
duration = bundle.Result.Duration;
|
||||
_logger?.LogInformation(
|
||||
"IsFlyshotTrajectoryValid 结果: name={Name}, valid={Valid}, duration={Duration}s",
|
||||
name, bundle.Result.IsValid, duration.TotalSeconds);
|
||||
return bundle.Result.IsValid;
|
||||
}
|
||||
}
|
||||
@@ -499,16 +664,21 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
throw new ArgumentException("轨迹名称不能为空。", nameof(name));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("DeleteTrajectory 开始: name={Name}", name);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
if (!_uploadedTrajectories.Remove(name))
|
||||
{
|
||||
_logger?.LogWarning("DeleteTrajectory 失败: 轨迹不存在 name={Name}", name);
|
||||
throw new InvalidOperationException("DeleteFlyShotTraj failed");
|
||||
}
|
||||
|
||||
var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
||||
_trajectoryStore.Delete(robotName, name);
|
||||
}
|
||||
|
||||
_logger?.LogInformation("DeleteTrajectory 完成: name={Name}", name);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -568,44 +738,86 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造 MoveJoint 直达运行时所需的最小合法轨迹结果。
|
||||
/// 校验关节向量与当前机器人自由度一致，且所有值都是有限数值。
|
||||
/// </summary>
|
||||
/// <returns>可立即执行的轨迹结果。</returns>
|
||||
private static TrajectoryResult CreateImmediateMoveResult()
|
||||
/// <param name="joints">待校验关节向量，单位为弧度。</param>
|
||||
/// <param name="expectedCount">期望自由度。</param>
|
||||
/// <param name="paramName">调用方参数名。</param>
|
||||
private static void EnsureJointVector(IReadOnlyList<double> joints, int expectedCount, string paramName)
|
||||
{
|
||||
return new TrajectoryResult(
|
||||
programName: "move-joint",
|
||||
method: PlanningMethod.Icsp,
|
||||
isValid: true,
|
||||
duration: TimeSpan.Zero,
|
||||
shotEvents: Array.Empty<ShotEvent>(),
|
||||
triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
|
||||
artifacts: Array.Empty<TrajectoryArtifact>(),
|
||||
failureReason: null,
|
||||
usedCache: false,
|
||||
originalWaypointCount: 1,
|
||||
plannedWaypointCount: 1);
|
||||
if (joints.Count != expectedCount)
|
||||
{
|
||||
throw new ArgumentException($"关节数量必须为 {expectedCount}。", paramName);
|
||||
}
|
||||
|
||||
for (var index = 0; index < joints.Count; index++)
|
||||
{
|
||||
var value = joints[index];
|
||||
if (double.IsNaN(value) || double.IsInfinity(value))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(paramName, $"第 {index} 个关节值必须是有限数值。");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 尝试从工作区加载旧版 RobotConfig.json 获取机器人配置；失败时返回 null。
|
||||
/// 根据 saveTrajectory 参数把规划结果点位写入运行目录 Config/Data/name。
|
||||
/// </summary>
|
||||
/// <param name="name">飞拍轨迹名称。</param>
|
||||
/// <param name="saveTrajectory">是否导出规划结果点位。</param>
|
||||
/// <param name="robot">当前机器人模型。</param>
|
||||
/// <param name="bundle">规划结果包。</param>
|
||||
private void ExportFlyshotArtifactsIfRequested(
|
||||
string name,
|
||||
bool saveTrajectory,
|
||||
RobotProfile robot,
|
||||
PlannedExecutionBundle bundle)
|
||||
{
|
||||
if (!saveTrajectory)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||
_artifactWriter.WriteUploadedFlyshot(name, robot, bundle, speedRatio);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 尝试从配置根目录加载 RobotConfig.json 获取机器人配置；失败时返回 null。
|
||||
/// </summary>
|
||||
/// <returns>加载到的机器人配置，或 null。</returns>
|
||||
private CompatibilityRobotSettings? TryLoadRobotSettings()
|
||||
{
|
||||
try
|
||||
foreach (var root in EnumerateRobotConfigRoots())
|
||||
{
|
||||
var workspaceRoot = !string.IsNullOrWhiteSpace(_options.WorkspaceRoot)
|
||||
? Path.GetFullPath(_options.WorkspaceRoot)
|
||||
: ResolveWorkspaceRootFromBaseDirectory();
|
||||
|
||||
var configPath = PathCompatibility.ResolveConfigPath("RobotConfig.json", workspaceRoot);
|
||||
var loaded = _configLoader.Load(configPath, workspaceRoot);
|
||||
return loaded.Robot;
|
||||
try
|
||||
{
|
||||
// 运行配置根本身已经是 Config 目录，这里用绝对路径避免再次追加 Config。
|
||||
var configPath = Path.Combine(root, "RobotConfig.json");
|
||||
var loaded = _configLoader.Load(configPath, root);
|
||||
return loaded.Robot;
|
||||
}
|
||||
catch
|
||||
{
|
||||
// 单个候选根目录加载失败时继续尝试下一个兼容入口。
|
||||
}
|
||||
}
|
||||
catch
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 枚举 RobotConfig.json 的配置根目录，运行目录 Config 优先，旧父工作区仅在显式配置时参与。
|
||||
/// </summary>
|
||||
/// <returns>待尝试的配置根目录列表。</returns>
|
||||
private IEnumerable<string> EnumerateRobotConfigRoots()
|
||||
{
|
||||
yield return _options.ResolveConfigRoot();
|
||||
|
||||
var legacyWorkspaceRoot = _options.ResolveLegacyWorkspaceRoot();
|
||||
if (legacyWorkspaceRoot is not null)
|
||||
{
|
||||
return null;
|
||||
yield return legacyWorkspaceRoot;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -624,23 +836,4 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
||||
adaptIcspTryNum: 5);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从当前程序基目录向上搜索 FlyshotReplacement.sln 以推断工作区根目录。
|
||||
/// </summary>
|
||||
/// <returns>父工作区根目录。</returns>
|
||||
private static string ResolveWorkspaceRootFromBaseDirectory()
|
||||
{
|
||||
var current = new DirectoryInfo(AppContext.BaseDirectory);
|
||||
while (current is not null)
|
||||
{
|
||||
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
|
||||
{
|
||||
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
|
||||
}
|
||||
|
||||
current = current.Parent;
|
||||
}
|
||||
|
||||
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -32,7 +32,8 @@ public static class ControllerClientCompatServiceCollectionExtensions
|
||||
services.AddSingleton<RobotConfigLoader>();
|
||||
services.AddSingleton<ControllerClientCompatRobotCatalog>();
|
||||
services.AddSingleton<ControllerClientTrajectoryOrchestrator>();
|
||||
services.AddSingleton<IFlyshotTrajectoryStore, JsonFlyshotTrajectoryStore>();
|
||||
services.AddSingleton<FlyshotTrajectoryArtifactWriter>();
|
||||
services.AddSingleton<JsonFlyshotTrajectoryStore>();
|
||||
services.AddSingleton<IControllerRuntime, FanucControllerRuntime>();
|
||||
services.AddSingleton<IControllerClientCompatService, ControllerClientCompatService>();
|
||||
|
||||
|
||||
@@ -3,6 +3,7 @@ using Flyshot.Core.Domain;
|
||||
using Flyshot.Core.Planning;
|
||||
using Flyshot.Core.Planning.Sampling;
|
||||
using Flyshot.Core.Triggering;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.ControllerClientCompat;
|
||||
|
||||
@@ -11,10 +12,35 @@ namespace Flyshot.ControllerClientCompat;
|
||||
/// </summary>
|
||||
public sealed class ControllerClientTrajectoryOrchestrator
|
||||
{
|
||||
private readonly ICspPlanner _icspPlanner = new();
|
||||
private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner = new();
|
||||
/// <summary>
|
||||
/// 稠密轨迹离散限幅失败后允许统一拉长时间轴的最大次数。
|
||||
/// </summary>
|
||||
private const int MaxDenseLimitStretchIterations = 100;
|
||||
|
||||
/// <summary>
|
||||
/// 每次离散限幅失败后统一放大的时间倍率。
|
||||
/// </summary>
|
||||
private const double DenseLimitStretchFactor = 1.01;
|
||||
|
||||
private readonly ICspPlanner _icspPlanner;
|
||||
private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
|
||||
private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
|
||||
private readonly Dictionary<string, PlannedExecutionBundle> _flyshotCache = new(StringComparer.Ordinal);
|
||||
private readonly ILogger<ControllerClientTrajectoryOrchestrator>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化轨迹编排器。
|
||||
/// </summary>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
/// <param name="loggerFactory">日志工厂；允许 null。</param>
|
||||
public ControllerClientTrajectoryOrchestrator(
|
||||
ILogger<ControllerClientTrajectoryOrchestrator>? logger = null,
|
||||
ILoggerFactory? loggerFactory = null)
|
||||
{
|
||||
_logger = logger;
|
||||
_icspPlanner = new(logger: loggerFactory?.CreateLogger<ICspPlanner>());
|
||||
_selfAdaptIcspPlanner = new(logger: loggerFactory?.CreateLogger<SelfAdaptIcspPlanner>());
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 对普通轨迹执行 ICSP 规划。
|
||||
@@ -25,11 +51,17 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
public PlannedExecutionBundle PlanOrdinaryTrajectory(
|
||||
RobotProfile robot,
|
||||
IReadOnlyList<IReadOnlyList<double>> waypoints,
|
||||
TrajectoryExecutionOptions? options = null)
|
||||
TrajectoryExecutionOptions? options = null,
|
||||
double planningSpeedScale = 1.0)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
ArgumentNullException.ThrowIfNull(waypoints);
|
||||
options ??= new TrajectoryExecutionOptions();
|
||||
var planningRobot = ApplyPlanningSpeedScale(robot, planningSpeedScale);
|
||||
|
||||
_logger?.LogInformation(
|
||||
"PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}, planningSpeedScale={PlanningSpeedScale}",
|
||||
waypoints.Count, options.Method, planningSpeedScale);
|
||||
|
||||
var program = CreateProgram(
|
||||
name: "ordinary-trajectory",
|
||||
@@ -40,14 +72,21 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
|
||||
var method = ParseOrdinaryMethod(options.Method);
|
||||
var request = new TrajectoryRequest(
|
||||
robot: robot,
|
||||
robot: planningRobot,
|
||||
program: program,
|
||||
method: method,
|
||||
saveTrajectoryArtifacts: options.SaveTrajectory);
|
||||
|
||||
var plannedTrajectory = PlanByMethod(request, method);
|
||||
var executionTrajectory = plannedTrajectory;
|
||||
var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref executionTrajectory, shapeTrajectoryEdges: false);
|
||||
var shotTimeline = new ShotTimeline(Array.Empty<ShotEvent>(), Array.Empty<TrajectoryDoEvent>());
|
||||
var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
|
||||
var result = CreateResult(executionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false);
|
||||
|
||||
_logger?.LogInformation(
|
||||
"PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
|
||||
result.Duration.TotalSeconds,
|
||||
result.DenseJointTrajectory?.Count ?? 0);
|
||||
|
||||
return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
|
||||
}
|
||||
@@ -62,12 +101,19 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
RobotProfile robot,
|
||||
ControllerClientCompatUploadedTrajectory uploaded,
|
||||
FlyshotExecutionOptions? options = null,
|
||||
CompatibilityRobotSettings? settings = null)
|
||||
CompatibilityRobotSettings? settings = null,
|
||||
double? planningSpeedScale = null)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
ArgumentNullException.ThrowIfNull(uploaded);
|
||||
options ??= new FlyshotExecutionOptions();
|
||||
settings ??= CreateDefaultRobotSettings();
|
||||
var effectivePlanningSpeedScale = planningSpeedScale ?? settings.PlanningSpeedScale;
|
||||
var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
|
||||
|
||||
_logger?.LogInformation(
|
||||
"PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}",
|
||||
uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache, effectivePlanningSpeedScale, settings.SmoothStartStopTiming);
|
||||
|
||||
var program = CreateProgram(
|
||||
name: uploaded.Name,
|
||||
@@ -77,18 +123,25 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
addressGroups: uploaded.AddressGroups);
|
||||
|
||||
var method = ParseFlyshotMethod(options.Method);
|
||||
var cacheKey = CreateFlyshotCacheKey(robot, uploaded, options, settings);
|
||||
if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
|
||||
{
|
||||
// 命中缓存时只替换 TrajectoryResult 的 usedCache 标志，规划轨迹和触发时间轴保持不可变复用。
|
||||
return new PlannedExecutionBundle(
|
||||
cachedBundle.PlannedTrajectory,
|
||||
cachedBundle.ShotTimeline,
|
||||
CreateResult(cachedBundle.PlannedTrajectory, cachedBundle.ShotTimeline, usedCache: true));
|
||||
}
|
||||
var cacheKey = CreateFlyshotCacheKey(planningRobot, uploaded, options, settings, effectivePlanningSpeedScale);
|
||||
//if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
|
||||
//{
|
||||
// _logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
|
||||
// var executionTrajectory = ApplyExecutionTiming(cachedBundle.PlannedTrajectory, settings);
|
||||
// var executionTimeline = _shotTimelineBuilder.Build(
|
||||
// executionTrajectory,
|
||||
// holdCycles: settings.IoKeepCycles,
|
||||
// samplePeriod: planningRobot.ServoPeriod,
|
||||
// useDo: settings.UseDo);
|
||||
// // 命中缓存时只替换 TrajectoryResult 的 usedCache 标志，规划轨迹和触发时间轴保持不可变复用。
|
||||
// return new PlannedExecutionBundle(
|
||||
// cachedBundle.PlannedTrajectory,
|
||||
// executionTimeline,
|
||||
// CreateResult(executionTrajectory, executionTimeline, usedCache: true, shapeTrajectoryEdges: false));
|
||||
//}
|
||||
|
||||
var request = new TrajectoryRequest(
|
||||
robot: robot,
|
||||
robot: planningRobot,
|
||||
program: program,
|
||||
method: method,
|
||||
moveToStart: options.MoveToStart,
|
||||
@@ -96,14 +149,20 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
useCache: options.UseCache);
|
||||
|
||||
var plannedTrajectory = PlanByMethod(request, method, settings);
|
||||
var smoothedExecutionTrajectory = ApplyExecutionTiming(plannedTrajectory, settings);
|
||||
var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref smoothedExecutionTrajectory, shapeTrajectoryEdges: false);
|
||||
var shotTimeline = _shotTimelineBuilder.Build(
|
||||
plannedTrajectory,
|
||||
smoothedExecutionTrajectory,
|
||||
holdCycles: settings.IoKeepCycles,
|
||||
samplePeriod: robot.ServoPeriod,
|
||||
samplePeriod: planningRobot.ServoPeriod,
|
||||
useDo: settings.UseDo);
|
||||
var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
|
||||
var result = CreateResult(smoothedExecutionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false);
|
||||
var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
|
||||
|
||||
_logger?.LogInformation(
|
||||
"PlanUploadedFlyshot 完成: name={Name}, 时长={Duration}s, 触发事件数={TriggerCount}, 采样点数={SampleCount}",
|
||||
uploaded.Name, result.Duration.TotalSeconds, result.TriggerTimeline.Count, result.DenseJointTrajectory?.Count ?? 0);
|
||||
|
||||
if (options.UseCache)
|
||||
{
|
||||
_flyshotCache[cacheKey] = bundle;
|
||||
@@ -188,10 +247,12 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
RobotProfile robot,
|
||||
ControllerClientCompatUploadedTrajectory uploaded,
|
||||
FlyshotExecutionOptions options,
|
||||
CompatibilityRobotSettings settings)
|
||||
CompatibilityRobotSettings settings,
|
||||
double planningSpeedScale)
|
||||
{
|
||||
var hash = new HashCode();
|
||||
hash.Add(robot.Name, StringComparer.Ordinal);
|
||||
hash.Add(planningSpeedScale);
|
||||
hash.Add(uploaded.Name, StringComparer.Ordinal);
|
||||
hash.Add(NormalizeMethod(options.Method), StringComparer.Ordinal);
|
||||
hash.Add(options.MoveToStart);
|
||||
@@ -199,6 +260,15 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
hash.Add(settings.UseDo);
|
||||
hash.Add(settings.IoKeepCycles);
|
||||
hash.Add(settings.AdaptIcspTryNum);
|
||||
hash.Add(settings.SmoothStartStopTiming);
|
||||
|
||||
foreach (var limit in robot.JointLimits)
|
||||
{
|
||||
hash.Add(limit.JointName, StringComparer.Ordinal);
|
||||
hash.Add(limit.VelocityLimit);
|
||||
hash.Add(limit.AccelerationLimit);
|
||||
hash.Add(limit.JerkLimit);
|
||||
}
|
||||
|
||||
foreach (var waypoint in uploaded.Waypoints)
|
||||
{
|
||||
@@ -244,6 +314,57 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
adaptIcspTryNum: 5);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 按运行配置决定是否对规划结果做执行前时间轴重映射。
|
||||
/// </summary>
|
||||
/// <param name="plannedTrajectory">规划阶段得到的轨迹。</param>
|
||||
/// <param name="settings">当前 RobotConfig.json 解析出的兼容设置。</param>
|
||||
/// <returns>运行时真正用于采样和触发的轨迹。</returns>
|
||||
private static PlannedTrajectory ApplyExecutionTiming(PlannedTrajectory plannedTrajectory, CompatibilityRobotSettings settings)
|
||||
{
|
||||
// legacy-fit 模式需要严格保留 waypoint.txt 反推出的节点时间，不能再二次改写时间轴。
|
||||
return settings.SmoothStartStopTiming
|
||||
? ApplySmoothStartStopTiming(plannedTrajectory)
|
||||
: plannedTrajectory;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 按规划全局速度倍率生成规划专用机器人约束。
|
||||
/// </summary>
|
||||
/// <param name="robot">原始机器人约束。</param>
|
||||
/// <param name="planningSpeedScale">规划阶段的全局速度倍率，1.0 表示不额外缩放。</param>
|
||||
/// <returns>已按速度倍率缩放后的规划机器人约束。</returns>
|
||||
private static RobotProfile ApplyPlanningSpeedScale(RobotProfile robot, double planningSpeedScale)
|
||||
{
|
||||
if (double.IsNaN(planningSpeedScale) || double.IsInfinity(planningSpeedScale) || planningSpeedScale <= 0.0)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
|
||||
}
|
||||
|
||||
if (Math.Abs(planningSpeedScale - 1.0) < 1e-12)
|
||||
{
|
||||
return robot;
|
||||
}
|
||||
|
||||
// RVBUST 规划阶段会用独立限速倍率缩放有效限制；运行时 speedRatio 仍只负责 J519 下发重采样。
|
||||
var scaledLimits = robot.JointLimits
|
||||
.Select(limit => new JointLimit(
|
||||
limit.JointName,
|
||||
limit.VelocityLimit * planningSpeedScale,
|
||||
limit.AccelerationLimit * planningSpeedScale * planningSpeedScale,
|
||||
limit.JerkLimit * planningSpeedScale * planningSpeedScale * planningSpeedScale))
|
||||
.ToArray();
|
||||
|
||||
return new RobotProfile(
|
||||
name: robot.Name,
|
||||
modelPath: robot.ModelPath,
|
||||
degreesOfFreedom: robot.DegreesOfFreedom,
|
||||
jointLimits: scaledLimits,
|
||||
jointCouplings: robot.JointCouplings,
|
||||
servoPeriod: robot.ServoPeriod,
|
||||
triggerPeriod: robot.TriggerPeriod);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 把兼容层输入数组转换成领域层 FlyshotProgram。
|
||||
/// </summary>
|
||||
@@ -274,12 +395,12 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
/// <param name="plannedTrajectory">规划后的轨迹。</param>
|
||||
/// <param name="shotTimeline">触发时间轴。</param>
|
||||
/// <returns>运行时执行结果描述。</returns>
|
||||
private static TrajectoryResult CreateResult(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, bool usedCache)
|
||||
private static TrajectoryResult CreateResult(
|
||||
PlannedTrajectory plannedTrajectory,
|
||||
ShotTimeline shotTimeline,
|
||||
IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
|
||||
bool usedCache)
|
||||
{
|
||||
var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
|
||||
plannedTrajectory,
|
||||
samplePeriod: plannedTrajectory.Robot.ServoPeriod.TotalSeconds);
|
||||
|
||||
return new TrajectoryResult(
|
||||
programName: plannedTrajectory.OriginalProgram.Name,
|
||||
method: plannedTrajectory.Method,
|
||||
@@ -294,4 +415,149 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
||||
plannedWaypointCount: plannedTrajectory.PlannedWaypointCount,
|
||||
denseJointTrajectory: denseJointTrajectory);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 生成满足离散速度、加速度和 Jerk 限制的稠密执行轨迹。
|
||||
/// </summary>
|
||||
private IReadOnlyList<IReadOnlyList<double>> CreateLimitCompliantDenseTrajectory(
|
||||
ref PlannedTrajectory executionTrajectory,
|
||||
bool shapeTrajectoryEdges)
|
||||
{
|
||||
for (var iteration = 0; iteration <= MaxDenseLimitStretchIterations; iteration++)
|
||||
{
|
||||
var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
|
||||
executionTrajectory,
|
||||
samplePeriod: executionTrajectory.Robot.ServoPeriod.TotalSeconds,
|
||||
smoothStartStop: shapeTrajectoryEdges);
|
||||
|
||||
try
|
||||
{
|
||||
TrajectoryLimitValidator.ValidateDenseJointTrajectory(
|
||||
executionTrajectory.Robot,
|
||||
denseJointTrajectory,
|
||||
trajectoryName: executionTrajectory.OriginalProgram.Name);
|
||||
return denseJointTrajectory;
|
||||
}
|
||||
catch (InvalidOperationException ex) when (iteration < MaxDenseLimitStretchIterations)
|
||||
{
|
||||
_logger?.LogWarning(ex, "稠密轨迹离散限幅校验失败，准备拉长时间轴重试");
|
||||
// 离散差分超限时统一拉长时间轴，保持路点几何不变并降低速度、加速度和 Jerk。
|
||||
executionTrajectory = StretchTrajectoryTiming(executionTrajectory, DenseLimitStretchFactor);
|
||||
_logger?.LogInformation(
|
||||
"离散差分超限，拉长时间轴，iteration={Iteration}, factor={StretchFactor}",
|
||||
iteration,
|
||||
DenseLimitStretchFactor);
|
||||
_logger?.LogInformation("拉长之后的总时间={TotalTime}", executionTrajectory.WaypointTimes[^1]);
|
||||
}
|
||||
}
|
||||
|
||||
throw new InvalidOperationException("稠密轨迹离散限幅校验未能产生有效结果。");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 按统一倍率拉长轨迹时间轴，保留原始路点和触发元数据。
|
||||
/// </summary>
|
||||
private PlannedTrajectory StretchTrajectoryTiming(PlannedTrajectory trajectory, double stretchFactor)
|
||||
{
|
||||
var waypointTimes = trajectory.WaypointTimes.Select(time => time * stretchFactor).ToArray();
|
||||
var segmentDurations = trajectory.SegmentDurations.Select(duration => duration * stretchFactor).ToArray();
|
||||
var segmentScales = trajectory.SegmentScales.Select(scale => scale / stretchFactor).ToArray();
|
||||
|
||||
return new PlannedTrajectory(
|
||||
robot: trajectory.Robot,
|
||||
originalProgram: trajectory.OriginalProgram,
|
||||
plannedWaypoints: trajectory.PlannedWaypoints,
|
||||
waypointTimes: waypointTimes,
|
||||
segmentDurations: segmentDurations,
|
||||
segmentScales: segmentScales,
|
||||
method: trajectory.Method,
|
||||
iterations: trajectory.Iterations,
|
||||
threshold: trajectory.Threshold);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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。
|
||||
/// </summary>
|
||||
private static PlannedTrajectory ApplySmoothStartStopTiming(PlannedTrajectory plannedTrajectory)
|
||||
{
|
||||
var originalTimes = plannedTrajectory.WaypointTimes;
|
||||
if (originalTimes.Count < 3)
|
||||
{
|
||||
return plannedTrajectory;
|
||||
}
|
||||
|
||||
var totalDuration = originalTimes[^1];
|
||||
if (totalDuration <= 0.0)
|
||||
{
|
||||
return plannedTrajectory;
|
||||
}
|
||||
|
||||
var smoothedTimes = new double[originalTimes.Count];
|
||||
smoothedTimes[0] = 0.0;
|
||||
smoothedTimes[^1] = totalDuration;
|
||||
|
||||
for (var index = 1; index < originalTimes.Count - 1; index++)
|
||||
{
|
||||
var normalizedProgress = originalTimes[index] / totalDuration;
|
||||
smoothedTimes[index] = totalDuration * InvertSmoothStartStopProgress(normalizedProgress);
|
||||
}
|
||||
|
||||
var segmentDurations = new double[smoothedTimes.Length - 1];
|
||||
for (var index = 0; index < segmentDurations.Length; index++)
|
||||
{
|
||||
segmentDurations[index] = smoothedTimes[index + 1] - smoothedTimes[index];
|
||||
}
|
||||
|
||||
return new PlannedTrajectory(
|
||||
robot: plannedTrajectory.Robot,
|
||||
originalProgram: plannedTrajectory.OriginalProgram,
|
||||
plannedWaypoints: plannedTrajectory.PlannedWaypoints,
|
||||
waypointTimes: smoothedTimes,
|
||||
segmentDurations: segmentDurations,
|
||||
segmentScales: plannedTrajectory.SegmentScales,
|
||||
method: plannedTrajectory.Method,
|
||||
iterations: plannedTrajectory.Iterations,
|
||||
threshold: plannedTrajectory.Threshold);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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。
|
||||
/// </summary>
|
||||
private static double InvertSmoothStartStopProgress(double normalizedProgress)
|
||||
{
|
||||
var target = Math.Clamp(normalizedProgress, 0.0, 1.0);
|
||||
var low = 0.0;
|
||||
var high = 1.0;
|
||||
for (var iteration = 0; iteration < 40; iteration++)
|
||||
{
|
||||
var middle = (low + high) / 2.0;
|
||||
var progress = EvaluateSmoothStartStopProgress(middle);
|
||||
if (progress < target)
|
||||
{
|
||||
low = middle;
|
||||
}
|
||||
else
|
||||
{
|
||||
high = middle;
|
||||
}
|
||||
}
|
||||
|
||||
return (low + high) / 2.0;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 计算 7 次 smootherstep 进度值，用于整段平滑起停时间律。
|
||||
/// </summary>
|
||||
private static double EvaluateSmoothStartStopProgress(double normalizedTime)
|
||||
{
|
||||
var u = Math.Clamp(normalizedTime, 0.0, 1.0);
|
||||
var u2 = u * u;
|
||||
var u3 = u2 * u;
|
||||
var u4 = u3 * u;
|
||||
var u5 = u4 * u;
|
||||
var u6 = u5 * u;
|
||||
var u7 = u6 * u;
|
||||
return (35.0 * u4) - (84.0 * u5) + (70.0 * u6) - (20.0 * u7);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -13,4 +13,10 @@
|
||||
<FrameworkReference Include="Microsoft.AspNetCore.App" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<AssemblyAttribute Include="System.Runtime.CompilerServices.InternalsVisibleTo">
|
||||
<_Parameter1>Flyshot.Core.Tests</_Parameter1>
|
||||
</AssemblyAttribute>
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
|
||||
@@ -12,16 +12,19 @@ public sealed class FlyshotExecutionOptions
|
||||
/// <param name="method">轨迹生成方法，支持 `icsp`、`doubles` 或 `self-adapt-icsp`。</param>
|
||||
/// <param name="saveTrajectory">是否保存轨迹信息。</param>
|
||||
/// <param name="useCache">是否优先复用已规划轨迹缓存。</param>
|
||||
/// <param name="wait">是否等待机器人执行完整条飞拍轨迹后再返回。</param>
|
||||
public FlyshotExecutionOptions(
|
||||
bool moveToStart = true,
|
||||
string method = "icsp",
|
||||
bool saveTrajectory = true,
|
||||
bool useCache = true)
|
||||
bool useCache = true,
|
||||
bool wait = true)
|
||||
{
|
||||
MoveToStart = moveToStart;
|
||||
Method = string.IsNullOrWhiteSpace(method) ? "icsp" : method;
|
||||
SaveTrajectory = saveTrajectory;
|
||||
UseCache = useCache;
|
||||
Wait = wait;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -43,4 +46,9 @@ public sealed class FlyshotExecutionOptions
|
||||
/// 获取是否优先复用已规划轨迹缓存。
|
||||
/// </summary>
|
||||
public bool UseCache { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取是否等待机器人执行完整条飞拍轨迹后再返回。
|
||||
/// </summary>
|
||||
public bool Wait { get; }
|
||||
}
|
||||
|
||||
@@ -0,0 +1,304 @@
|
||||
using Flyshot.Core.Config;
|
||||
using Flyshot.Core.Domain;
|
||||
using Flyshot.Core.Planning;
|
||||
using Flyshot.Core.Planning.Export;
|
||||
using Flyshot.Core.Planning.Kinematics;
|
||||
using Flyshot.Core.Planning.Sampling;
|
||||
using Microsoft.Extensions.Logging;
|
||||
using System.Text;
|
||||
|
||||
namespace Flyshot.ControllerClientCompat;
|
||||
|
||||
/// <summary>
|
||||
/// 负责把 saveTrajectory 生成的规划结果点位写入运行目录 Config/Data。
|
||||
/// </summary>
|
||||
public sealed class FlyshotTrajectoryArtifactWriter
|
||||
{
|
||||
/// <summary>
|
||||
/// 旧 Data 明细点位文件使用的默认采样周期，单位为秒。
|
||||
/// </summary>
|
||||
private const double LegacyDetailSamplePeriodSeconds = 0.016;
|
||||
|
||||
/// <summary>
|
||||
/// FANUC J519 实际下发的固定伺服周期，单位为秒。
|
||||
/// </summary>
|
||||
private const double ActualSendServoPeriodSeconds = 0.008;
|
||||
|
||||
private readonly ControllerClientCompatOptions _options;
|
||||
private readonly RobotModelLoader _robotModelLoader;
|
||||
private readonly ILogger<FlyshotTrajectoryArtifactWriter>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化规划结果点位导出器。
|
||||
/// </summary>
|
||||
/// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
|
||||
/// <param name="robotModelLoader">机器人模型加载器，用于生成笛卡尔点位。</param>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public FlyshotTrajectoryArtifactWriter(
|
||||
ControllerClientCompatOptions options,
|
||||
RobotModelLoader robotModelLoader,
|
||||
ILogger<FlyshotTrajectoryArtifactWriter>? logger = null)
|
||||
{
|
||||
_options = options ?? throw new ArgumentNullException(nameof(options));
|
||||
_robotModelLoader = robotModelLoader ?? throw new ArgumentNullException(nameof(robotModelLoader));
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将飞拍规划结果导出到 Config/Data/name。
|
||||
/// </summary>
|
||||
/// <param name="trajectoryName">飞拍轨迹名称。</param>
|
||||
/// <param name="robot">当前机器人配置。</param>
|
||||
/// <param name="bundle">规划结果包。</param>
|
||||
/// <param name="speedRatio">导出 J519 实发采样点时使用的速度倍率。</param>
|
||||
public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle, double speedRatio = 1.0)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(trajectoryName))
|
||||
{
|
||||
throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
|
||||
}
|
||||
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
ArgumentNullException.ThrowIfNull(bundle);
|
||||
|
||||
var outputDir = Path.Combine(_options.ResolveConfigRoot(), "Data", SanitizeDirectoryName(trajectoryName));
|
||||
Directory.CreateDirectory(outputDir);
|
||||
if (bundle.Result.DenseJointTrajectory is null)
|
||||
{
|
||||
throw new InvalidOperationException("导出飞拍轨迹工件前必须先生成执行侧稠密轨迹。");
|
||||
}
|
||||
|
||||
// 明细文件现在定义为“执行侧 8ms 稠密轨迹的 16ms 低频视图”，避免再次从 PlannedTrajectory 生成另一条轨迹。
|
||||
var kinematicsModel = _robotModelLoader.LoadKinematicsModel(robot.ModelPath);
|
||||
var jointTrajectory = BuildJointRows(bundle.PlannedTrajectory);
|
||||
_logger?.LogInformation("规划之后的轨迹点位数量为:{}", jointTrajectory.Count);
|
||||
var executionDenseTrajectory = bundle.Result.DenseJointTrajectory;
|
||||
var jointDetailTrajectory = DownsampleDenseRows(
|
||||
executionDenseTrajectory,
|
||||
samplePeriodSeconds: LegacyDetailSamplePeriodSeconds);
|
||||
var cartTrajectory = BuildCartesianRows(bundle.PlannedTrajectory, kinematicsModel);
|
||||
var cartDetailTrajectory = BuildCartesianRowsFromJointDense(jointDetailTrajectory, kinematicsModel);
|
||||
|
||||
TrajectoryExporter.WriteJointTrajectory(Path.Combine(outputDir, "JointTraj.txt"), jointTrajectory);
|
||||
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(
|
||||
"saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}, speedRatio={SpeedRatio}",
|
||||
trajectoryName,
|
||||
outputDir,
|
||||
jointTrajectory.Count,
|
||||
jointDetailTrajectory.Count,
|
||||
speedRatio);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 生成按 J519 8ms 实际发送周期重采样的轨迹点，供 saveTrajectory 离线对比真实下发序列。
|
||||
/// </summary>
|
||||
private void WriteActualSendArtifacts(string outputDir, RobotProfile robot, TrajectoryResult result, double speedRatio)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
|
||||
if (result.DenseJointTrajectory is null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(speedRatio), "speed_ratio 必须是有限正数。");
|
||||
}
|
||||
|
||||
var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||
result.DenseJointTrajectory,
|
||||
result.Duration.TotalSeconds,
|
||||
ActualSendServoPeriodSeconds,
|
||||
speedRatio);
|
||||
|
||||
|
||||
try
|
||||
{
|
||||
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||
robot,
|
||||
samples,
|
||||
trajectoryName: result.ProgramName);
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
_logger?.LogError(e, "ValidateJ519SendSamples 失败，program={ProgramName}", result.ProgramName);
|
||||
}
|
||||
var jointRows = new List<IReadOnlyList<double>>(samples.Count);
|
||||
var timingRows = new List<IReadOnlyList<double>>(samples.Count);
|
||||
var jerkRows = new List<IReadOnlyList<double>>();
|
||||
double? previousSendTime = null;
|
||||
double[]? previousJoints = null;
|
||||
double[]? previousVelocity = null;
|
||||
double[]? previousAcceleration = null;
|
||||
|
||||
foreach (var sample in samples)
|
||||
{
|
||||
jointRows.Add(BuildActualSendJointRow(sample.SendTime, sample.JointsDegrees));
|
||||
timingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample));
|
||||
|
||||
if (previousSendTime is not null && previousJoints is not null)
|
||||
{
|
||||
jerkRows.Add(J519SendTrajectorySampler.BuildJerkRow(
|
||||
previousSendTime.Value,
|
||||
sample.SendTime,
|
||||
previousJoints,
|
||||
sample.JointsDegrees,
|
||||
ref previousVelocity,
|
||||
ref previousAcceleration));
|
||||
}
|
||||
|
||||
previousSendTime = sample.SendTime;
|
||||
previousJoints = sample.JointsDegrees.ToArray();
|
||||
}
|
||||
|
||||
WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), jointRows);
|
||||
WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), timingRows);
|
||||
WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), jerkRows);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造实际发送点位文本行，格式为 send_time + 关节角度 + io_mask + io_value。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<double> BuildActualSendJointRow(double sendTime, IReadOnlyList<double> joints)
|
||||
{
|
||||
var row = new double[joints.Count + 3];
|
||||
row[0] = Math.Round(sendTime, 6);
|
||||
for (var index = 0; index < joints.Count; index++)
|
||||
{
|
||||
row[index + 1] = Math.Round(joints[index], 6);
|
||||
}
|
||||
|
||||
row[^2] = 0.0;
|
||||
row[^1] = 0.0;
|
||||
return row;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 以空格分隔的旧轨迹文本格式写出数值行。
|
||||
/// </summary>
|
||||
private static void WriteDenseRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
var sb = new StringBuilder();
|
||||
foreach (var row in rows)
|
||||
{
|
||||
sb.AppendLine(string.Join(" ", row.Select(static value => $"{value:F6}")));
|
||||
}
|
||||
|
||||
File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造 JointTraj.txt 行数据，格式为 time + 关节弧度。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<IReadOnlyList<double>> BuildJointRows(PlannedTrajectory trajectory)
|
||||
{
|
||||
var rows = new List<IReadOnlyList<double>>(trajectory.PlannedWaypoints.Count);
|
||||
for (var index = 0; index < trajectory.PlannedWaypoints.Count; index++)
|
||||
{
|
||||
var row = new List<double>(trajectory.PlannedWaypoints[index].Positions.Count + 1)
|
||||
{
|
||||
Math.Round(trajectory.WaypointTimes[index], 6)
|
||||
};
|
||||
row.AddRange(trajectory.PlannedWaypoints[index].Positions.Select(static value => Math.Round(value, 6)));
|
||||
rows.Add(row);
|
||||
}
|
||||
|
||||
return rows;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造 CartTraj.txt 行数据，格式为 time + x/y/z/qx/qy/qz/qw。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<IReadOnlyList<double>> BuildCartesianRows(
|
||||
PlannedTrajectory trajectory,
|
||||
RobotKinematicsModel kinematicsModel)
|
||||
{
|
||||
var rows = new List<IReadOnlyList<double>>(trajectory.PlannedWaypoints.Count);
|
||||
for (var index = 0; index < trajectory.PlannedWaypoints.Count; index++)
|
||||
{
|
||||
var pose = RobotKinematics.ForwardKinematics(kinematicsModel, trajectory.PlannedWaypoints[index].Positions.ToArray());
|
||||
var row = new List<double>(pose.Length + 1)
|
||||
{
|
||||
Math.Round(trajectory.WaypointTimes[index], 6)
|
||||
};
|
||||
row.AddRange(pose.Select(static value => Math.Round(value, 6)));
|
||||
rows.Add(row);
|
||||
}
|
||||
|
||||
return rows;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 基于执行侧稠密关节轨迹生成笛卡尔导出行，保持与 JointDetialTraj.txt 同一来源。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<IReadOnlyList<double>> BuildCartesianRowsFromJointDense(
|
||||
IReadOnlyList<IReadOnlyList<double>> jointDenseRows,
|
||||
RobotKinematicsModel kinematicsModel)
|
||||
{
|
||||
var rows = new List<IReadOnlyList<double>>(jointDenseRows.Count);
|
||||
foreach (var jointRow in jointDenseRows)
|
||||
{
|
||||
var jointPositions = jointRow.Skip(1).ToArray();
|
||||
var pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPositions);
|
||||
var row = new List<double>(pose.Length + 1)
|
||||
{
|
||||
Math.Round(jointRow[0], 6)
|
||||
};
|
||||
row.AddRange(pose.Select(static value => Math.Round(value, 6)));
|
||||
rows.Add(row);
|
||||
}
|
||||
|
||||
return rows;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将 8ms 执行稠密轨迹按指定周期抽稀为低频兼容视图，并始终保留终点。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<IReadOnlyList<double>> DownsampleDenseRows(
|
||||
IReadOnlyList<IReadOnlyList<double>> denseRows,
|
||||
double samplePeriodSeconds)
|
||||
{
|
||||
var result = new List<IReadOnlyList<double>>();
|
||||
var epsilon = 1e-6;
|
||||
var nextSampleTime = 0.0;
|
||||
|
||||
foreach (var row in denseRows)
|
||||
{
|
||||
var sampleTime = row[0];
|
||||
if (sampleTime + epsilon < nextSampleTime)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if (Math.Abs(sampleTime - nextSampleTime) <= epsilon || sampleTime.Equals(0.0))
|
||||
{
|
||||
result.Add(row);
|
||||
nextSampleTime += samplePeriodSeconds;
|
||||
}
|
||||
}
|
||||
|
||||
if (result.Count == 0 || !ReferenceEquals(result[^1], denseRows[^1]))
|
||||
{
|
||||
result.Add(denseRows[^1]);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将轨迹名转换为可用目录名，避免 HTTP 输入中的路径字符污染输出目录。
|
||||
/// </summary>
|
||||
private static string SanitizeDirectoryName(string name)
|
||||
{
|
||||
var invalidChars = Path.GetInvalidFileNameChars();
|
||||
var chars = name.Select(ch => invalidChars.Contains(ch) ? '_' : ch).ToArray();
|
||||
return new string(chars);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,217 @@
|
||||
namespace Flyshot.ControllerClientCompat;
|
||||
|
||||
/// <summary>
|
||||
/// 对飞拍稠密关节轨迹的首尾采样点做速度整形，降低启动和结束时的单步角度变化。
|
||||
/// </summary>
|
||||
internal static class FlyshotTrajectoryEdgeShaper
|
||||
{
|
||||
/// <summary>
|
||||
/// 首尾整形默认覆盖的采样点数（含锚点）。
|
||||
/// </summary>
|
||||
internal const int DefaultEdgePointCount = 10;
|
||||
|
||||
/// <summary>
|
||||
/// 对稠密关节轨迹做首尾整形，时间列保持不变，首段采用 ease-in，尾段采用 ease-out。
|
||||
/// </summary>
|
||||
/// <param name="denseJointTrajectory">输入稠密关节轨迹，每行格式为 [time, j1..jN]，关节单位为弧度。</param>
|
||||
/// <param name="maxEdgeStepDegrees">保留旧签名兼容调用方；当前实现不再按角度阈值扩窗。</param>
|
||||
/// <param name="maxWindowPoints">单侧整形覆盖的采样点数（含锚点），默认首尾各 10 点。</param>
|
||||
/// <returns>经过首尾整形后的新轨迹；若不满足整形条件则返回原轨迹副本。</returns>
|
||||
internal static IReadOnlyList<IReadOnlyList<double>> ShapeDenseJointTrajectory(
|
||||
IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
|
||||
double maxEdgeStepDegrees = 0.0,
|
||||
int maxWindowPoints = DefaultEdgePointCount)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(denseJointTrajectory);
|
||||
if (denseJointTrajectory.Count == 0)
|
||||
{
|
||||
return Array.Empty<IReadOnlyList<double>>();
|
||||
}
|
||||
|
||||
var copiedRows = denseJointTrajectory
|
||||
.Select(static row => row.ToArray())
|
||||
.ToArray();
|
||||
if (copiedRows.Length < 5 || maxWindowPoints < 2)
|
||||
{
|
||||
return copiedRows;
|
||||
}
|
||||
|
||||
var lastIndex = copiedRows.Length - 1;
|
||||
var window = Math.Min(maxWindowPoints, lastIndex / 2);
|
||||
if (window < 2)
|
||||
{
|
||||
return copiedRows;
|
||||
}
|
||||
|
||||
// 以原始轨迹为参考估计窗口边界的速度，并在位移累计量上做单段单调整形，
|
||||
// 目标是让首尾 10 点表现为更平滑的加减速，而不是硬匹配高阶导数导致振荡。
|
||||
var originalRows = copiedRows
|
||||
.Select(static row => row.ToArray())
|
||||
.ToArray();
|
||||
|
||||
ApplyLeadingHermiteBlend(copiedRows, originalRows, window);
|
||||
ApplyTrailingHermiteBlend(copiedRows, originalRows, window);
|
||||
|
||||
return copiedRows;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 对首段做单段 Hermite 累计位移整形：起点速度为 0，窗口末端按原轨迹边界速度接回中段。
|
||||
/// </summary>
|
||||
private static void ApplyLeadingHermiteBlend(double[][] rows, double[][] originalRows, int window)
|
||||
{
|
||||
var startRow = originalRows[0];
|
||||
var endRow = originalRows[window];
|
||||
var totalDuration = endRow[0] - startRow[0];
|
||||
if (totalDuration <= 0.0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
for (var jointIndex = 1; jointIndex < startRow.Length; jointIndex++)
|
||||
{
|
||||
var delta = endRow[jointIndex] - startRow[jointIndex];
|
||||
if (Math.Abs(delta) <= 1e-12)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var endVelocity = EstimateVelocity(originalRows, window, jointIndex);
|
||||
var normalizedEndSlope = ClampNormalizedSlope((endVelocity * totalDuration) / delta);
|
||||
|
||||
for (var index = 1; index < window; index++)
|
||||
{
|
||||
var normalizedTime = (rows[index][0] - startRow[0]) / totalDuration;
|
||||
var shapedValue = startRow[jointIndex]
|
||||
+ (delta * EvaluateHermiteProgress(normalizedTime, startSlope: 0.0, endSlope: normalizedEndSlope));
|
||||
var blendWeight = Math.Pow(1.0 - normalizedTime, 2.0);
|
||||
rows[index][jointIndex] = Lerp(originalRows[index][jointIndex], shapedValue, blendWeight);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 对尾段做单段 Hermite 累计位移整形：窗口起点按原轨迹边界速度接入，终点速度减到 0。
|
||||
/// </summary>
|
||||
private static void ApplyTrailingHermiteBlend(double[][] rows, double[][] originalRows, int window)
|
||||
{
|
||||
var startIndex = rows.Length - 1 - window;
|
||||
var startRow = originalRows[startIndex];
|
||||
var endRow = originalRows[^1];
|
||||
var totalDuration = endRow[0] - startRow[0];
|
||||
if (totalDuration <= 0.0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
for (var jointIndex = 1; jointIndex < startRow.Length; jointIndex++)
|
||||
{
|
||||
var delta = endRow[jointIndex] - startRow[jointIndex];
|
||||
if (Math.Abs(delta) <= 1e-12)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var startVelocity = EstimateVelocity(originalRows, startIndex, jointIndex);
|
||||
var normalizedStartSlope = ClampNormalizedSlope((startVelocity * totalDuration) / delta);
|
||||
|
||||
for (var index = 1; index < window; index++)
|
||||
{
|
||||
var normalizedTime = (rows[startIndex + index][0] - startRow[0]) / totalDuration;
|
||||
var shapedValue = startRow[jointIndex]
|
||||
+ (delta * EvaluateHermiteProgress(normalizedTime, startSlope: normalizedStartSlope, endSlope: 0.0));
|
||||
var blendWeight = Math.Pow(normalizedTime, 2.0);
|
||||
rows[startIndex + index][jointIndex] = Lerp(originalRows[startIndex + index][jointIndex], shapedValue, blendWeight);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 估算给定行在原始轨迹上的一阶导，首尾退化为单边差分。
|
||||
/// </summary>
|
||||
private static double EstimateVelocity(double[][] rows, int index, int jointIndex)
|
||||
{
|
||||
if (index <= 0)
|
||||
{
|
||||
var dt = rows[1][0] - rows[0][0];
|
||||
return dt <= 0.0 ? 0.0 : (rows[1][jointIndex] - rows[0][jointIndex]) / dt;
|
||||
}
|
||||
|
||||
if (index >= rows.Length - 1)
|
||||
{
|
||||
var dt = rows[^1][0] - rows[^2][0];
|
||||
return dt <= 0.0 ? 0.0 : (rows[^1][jointIndex] - rows[^2][jointIndex]) / dt;
|
||||
}
|
||||
|
||||
var previousDt = rows[index][0] - rows[index - 1][0];
|
||||
var nextDt = rows[index + 1][0] - rows[index][0];
|
||||
if (previousDt <= 0.0 || nextDt <= 0.0)
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
var backward = (rows[index][jointIndex] - rows[index - 1][jointIndex]) / previousDt;
|
||||
var forward = (rows[index + 1][jointIndex] - rows[index][jointIndex]) / nextDt;
|
||||
return (backward + forward) / 2.0;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 估算给定行在原始轨迹上的二阶导，端点退化为 0 以避免放大边界噪声。
|
||||
/// </summary>
|
||||
private static double EstimateAcceleration(double[][] rows, int index, int jointIndex)
|
||||
{
|
||||
if (index <= 0 || index >= rows.Length - 1)
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
var previousDt = rows[index][0] - rows[index - 1][0];
|
||||
var nextDt = rows[index + 1][0] - rows[index][0];
|
||||
if (previousDt <= 0.0 || nextDt <= 0.0)
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
var backward = (rows[index][jointIndex] - rows[index - 1][jointIndex]) / previousDt;
|
||||
var forward = (rows[index + 1][jointIndex] - rows[index][jointIndex]) / nextDt;
|
||||
var averageDt = (previousDt + nextDt) / 2.0;
|
||||
return averageDt <= 0.0 ? 0.0 : (forward - backward) / averageDt;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 计算 Hermite 累计位移曲线在 0..1 归一化时间上的进度值。
|
||||
/// </summary>
|
||||
private static double EvaluateHermiteProgress(double normalizedTime, double startSlope, double endSlope)
|
||||
{
|
||||
var u = Math.Clamp(normalizedTime, 0.0, 1.0);
|
||||
var u2 = u * u;
|
||||
var u3 = u2 * u;
|
||||
var h00 = (2.0 * u3) - (3.0 * u2) + 1.0;
|
||||
var h10 = u3 - (2.0 * u2) + u;
|
||||
var h01 = (-2.0 * u3) + (3.0 * u2);
|
||||
var h11 = u3 - u2;
|
||||
return (h00 * 0.0) + (h10 * startSlope) + (h01 * 1.0) + (h11 * endSlope);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 把归一化边界斜率限制在单调 Hermite 常见的稳定区间内，避免过冲和窗口内振荡。
|
||||
/// </summary>
|
||||
private static double ClampNormalizedSlope(double normalizedSlope)
|
||||
{
|
||||
if (double.IsNaN(normalizedSlope) || double.IsInfinity(normalizedSlope))
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
return Math.Clamp(normalizedSlope, 0.0, 3.0);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 在线性插值基础上做温和混合，避免首尾窗口为了追赶锚点而产生过大的局部跃度。
|
||||
/// </summary>
|
||||
private static double Lerp(double originalValue, double shapedValue, double weight)
|
||||
{
|
||||
var clampedWeight = Math.Clamp(weight, 0.0, 1.0);
|
||||
return originalValue + ((shapedValue - originalValue) * clampedWeight);
|
||||
}
|
||||
}
|
||||
@@ -2,64 +2,50 @@ using System.Text.Json;
|
||||
using System.Text.Json.Nodes;
|
||||
using Flyshot.Core.Config;
|
||||
using Flyshot.Core.Domain;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.ControllerClientCompat;
|
||||
|
||||
/// <summary>
|
||||
/// 定义已上传飞拍轨迹的持久化存储契约。
|
||||
/// 使用运行目录 Config/RobotConfig.json 持久化单机器人飞拍轨迹和机器人配置。
|
||||
/// </summary>
|
||||
public interface IFlyshotTrajectoryStore
|
||||
{
|
||||
/// <summary>
|
||||
/// 将单条轨迹持久化到本地 JSON，同时更新所属机器人配置段。
|
||||
/// </summary>
|
||||
/// <param name="robotName">当前已初始化的机器人名称。</param>
|
||||
/// <param name="settings">当前机器人级兼容配置。</param>
|
||||
/// <param name="trajectory">要保存的已上传轨迹。</param>
|
||||
void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory);
|
||||
|
||||
/// <summary>
|
||||
/// 从本地 JSON 删除指定名称的轨迹。
|
||||
/// </summary>
|
||||
/// <param name="robotName">当前已初始化的机器人名称。</param>
|
||||
/// <param name="trajectoryName">要删除的轨迹名称。</param>
|
||||
void Delete(string robotName, string trajectoryName);
|
||||
|
||||
/// <summary>
|
||||
/// 加载指定机器人名下所有已持久化的轨迹，并回传保存时的机器人配置。
|
||||
/// </summary>
|
||||
/// <param name="robotName">当前已初始化的机器人名称。</param>
|
||||
/// <param name="settings">输出保存时的机器人配置；若文件不存在或解析失败则为 null。</param>
|
||||
/// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
|
||||
IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 使用与旧版 RobotConfig.json 一致的 JSON 格式持久化飞拍轨迹和机器人配置。
|
||||
/// </summary>
|
||||
public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
public sealed class JsonFlyshotTrajectoryStore
|
||||
{
|
||||
private readonly ControllerClientCompatOptions _options;
|
||||
private readonly RobotConfigLoader _configLoader;
|
||||
private readonly ILogger<JsonFlyshotTrajectoryStore>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化基于 JSON 文件的轨迹存储。
|
||||
/// </summary>
|
||||
/// <param name="options">兼容层基础配置，用于定位工作区根目录。</param>
|
||||
/// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
|
||||
/// <param name="configLoader">旧版 RobotConfig.json 加载器，用于反序列化已保存的轨迹。</param>
|
||||
public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader)
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader, ILogger<JsonFlyshotTrajectoryStore>? logger = null)
|
||||
{
|
||||
_options = options ?? throw new ArgumentNullException(nameof(options));
|
||||
_configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
/// <summary>
|
||||
/// 将单条轨迹持久化到统一 RobotConfig.json，同时更新机器人配置段。
|
||||
/// </summary>
|
||||
/// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
|
||||
/// <param name="settings">当前机器人级兼容配置。</param>
|
||||
/// <param name="trajectory">要保存的已上传轨迹。</param>
|
||||
public void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(settings);
|
||||
ArgumentNullException.ThrowIfNull(trajectory);
|
||||
|
||||
var path = ResolveStorePath(robotName);
|
||||
_logger?.LogInformation(
|
||||
"RobotConfig 保存轨迹: robot={RobotName}, name={TrajectoryName}, waypoints={WaypointCount}",
|
||||
robotName,
|
||||
trajectory.Name,
|
||||
trajectory.Waypoints.Count);
|
||||
|
||||
var path = ResolveStorePath();
|
||||
var directory = Path.GetDirectoryName(path)!;
|
||||
Directory.CreateDirectory(directory);
|
||||
|
||||
@@ -92,9 +78,15 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
|
||||
};
|
||||
File.WriteAllText(path, root.ToJsonString(writeOptions));
|
||||
|
||||
_logger?.LogInformation("RobotConfig 轨迹已保存到 {Path}", path);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
/// <summary>
|
||||
/// 从统一 RobotConfig.json 删除指定名称的轨迹。
|
||||
/// </summary>
|
||||
/// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
|
||||
/// <param name="trajectoryName">要删除的轨迹名称。</param>
|
||||
public void Delete(string robotName, string trajectoryName)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(trajectoryName))
|
||||
@@ -102,9 +94,12 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
|
||||
}
|
||||
|
||||
var path = ResolveStorePath(robotName);
|
||||
_logger?.LogInformation("RobotConfig 删除轨迹: robot={RobotName}, name={TrajectoryName}", robotName, trajectoryName);
|
||||
|
||||
var path = ResolveStorePath();
|
||||
if (!File.Exists(path))
|
||||
{
|
||||
_logger?.LogWarning("RobotConfig 删除失败: 文件不存在 {Path}", path);
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -112,36 +107,51 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
var root = JsonNode.Parse(existingJson)?.AsObject();
|
||||
if (root is null)
|
||||
{
|
||||
_logger?.LogWarning("RobotConfig 删除失败: 无法解析 JSON {Path}", path);
|
||||
return;
|
||||
}
|
||||
|
||||
if (root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) && flyingShotsNode is JsonObject flyingShotsObj)
|
||||
{
|
||||
flyingShotsObj.Remove(trajectoryName);
|
||||
|
||||
var writeOptions = new JsonSerializerOptions
|
||||
var removed = flyingShotsObj.Remove(trajectoryName);
|
||||
if (removed)
|
||||
{
|
||||
WriteIndented = true,
|
||||
PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
|
||||
};
|
||||
File.WriteAllText(path, root.ToJsonString(writeOptions));
|
||||
var writeOptions = new JsonSerializerOptions
|
||||
{
|
||||
WriteIndented = true,
|
||||
PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
|
||||
};
|
||||
File.WriteAllText(path, root.ToJsonString(writeOptions));
|
||||
_logger?.LogInformation("RobotConfig 轨迹已删除: {TrajectoryName}", trajectoryName);
|
||||
}
|
||||
else
|
||||
{
|
||||
_logger?.LogWarning("RobotConfig 删除失败: 轨迹不存在 {TrajectoryName}", trajectoryName);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
/// <summary>
|
||||
/// 加载统一 RobotConfig.json 中的所有轨迹，并回传机器人配置。
|
||||
/// </summary>
|
||||
/// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
|
||||
/// <param name="settings">输出 RobotConfig.json 中的机器人配置；若文件不存在或解析失败则为 null。</param>
|
||||
/// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
|
||||
public IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings)
|
||||
{
|
||||
var path = ResolveStorePath(robotName);
|
||||
var path = ResolveStorePath();
|
||||
if (!File.Exists(path))
|
||||
{
|
||||
_logger?.LogInformation("RobotConfig 无持久化数据: {Path}", path);
|
||||
settings = null;
|
||||
return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
var workspaceRoot = ResolveWorkspaceRoot();
|
||||
var loaded = _configLoader.Load(path, workspaceRoot);
|
||||
_logger?.LogInformation("RobotConfig 正在加载: {Path}", path);
|
||||
|
||||
var loaded = _configLoader.Load(path, _options.ResolveConfigRoot());
|
||||
settings = loaded.Robot;
|
||||
|
||||
var dict = new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
|
||||
@@ -156,10 +166,18 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
dict[program.Key] = traj;
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"RobotConfig 加载完成: robot={RobotName}, 轨迹数={Count}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}",
|
||||
robotName,
|
||||
dict.Count,
|
||||
settings?.UseDo,
|
||||
settings?.IoKeepCycles);
|
||||
|
||||
return dict;
|
||||
}
|
||||
catch
|
||||
catch (Exception ex)
|
||||
{
|
||||
_logger?.LogError(ex, "RobotConfig 加载失败: {Path}", path);
|
||||
settings = null;
|
||||
return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
|
||||
}
|
||||
@@ -177,7 +195,9 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
|
||||
["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
|
||||
["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
|
||||
["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum)
|
||||
["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum),
|
||||
["planning_speed_scale"] = JsonValue.Create(settings.PlanningSpeedScale),
|
||||
["smooth_start_stop_timing"] = JsonValue.Create(settings.SmoothStartStopTiming)
|
||||
};
|
||||
}
|
||||
|
||||
@@ -196,36 +216,10 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 解析当前机器人对应的持久化文件路径。
|
||||
/// 解析单程序单机器人的统一配置文件路径。
|
||||
/// </summary>
|
||||
private string ResolveStorePath(string robotName)
|
||||
private string ResolveStorePath()
|
||||
{
|
||||
var workspaceRoot = ResolveWorkspaceRoot();
|
||||
var storeDir = Path.Combine(workspaceRoot, "flyshot-replacement", "TrajectoryStore");
|
||||
return Path.Combine(storeDir, $"{robotName}_trajectories.json");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 解析父工作区根目录，优先使用显式配置。
|
||||
/// </summary>
|
||||
private string ResolveWorkspaceRoot()
|
||||
{
|
||||
if (!string.IsNullOrWhiteSpace(_options.WorkspaceRoot))
|
||||
{
|
||||
return Path.GetFullPath(_options.WorkspaceRoot);
|
||||
}
|
||||
|
||||
var current = new DirectoryInfo(AppContext.BaseDirectory);
|
||||
while (current is not null)
|
||||
{
|
||||
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
|
||||
{
|
||||
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
|
||||
}
|
||||
|
||||
current = current.Parent;
|
||||
}
|
||||
|
||||
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
|
||||
return Path.Combine(_options.ResolveConfigRoot(), "RobotConfig.json");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,327 @@
|
||||
using Flyshot.Core.Domain;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.ControllerClientCompat;
|
||||
|
||||
/// <summary>
|
||||
/// MoveJoint 轨迹生成器。
|
||||
/// 将起始关节角到目标关节角的单段运动，按速度、加速度、jerk 约束生成稠密点到点轨迹，
|
||||
/// 供 FANUC J519 伺服流逐周期下发。
|
||||
///
|
||||
/// 核心思路：路径只取关节空间直线 q=q0+(q1-q0)*s(t)，时间律使用 7 阶平滑函数；
|
||||
/// 生成后再按离散采样点反算速度、加速度和 jerk，确保真实下发点也满足限制。
|
||||
/// </summary>
|
||||
internal static class MoveJointTrajectoryGenerator
|
||||
{
|
||||
/// <summary>
|
||||
/// 最小段基础时长（秒）。零位移时仍由采样对齐逻辑生成起点和终点两帧。
|
||||
/// </summary>
|
||||
private const double MinimumMoveJointDurationSeconds = 0.0;
|
||||
|
||||
/// <summary>
|
||||
/// 7 阶平滑点到点时间律的一阶导数最大值。
|
||||
/// </summary>
|
||||
private const double SmoothPtpVelocityShapeCoefficient = 2.1875;
|
||||
|
||||
/// <summary>
|
||||
/// 7 阶平滑点到点时间律的二阶导数最大值。
|
||||
/// </summary>
|
||||
private const double SmoothPtpAccelerationShapeCoefficient = 7.513188404399293;
|
||||
|
||||
/// <summary>
|
||||
/// 7 阶平滑点到点时间律的三阶导数最大值。
|
||||
/// </summary>
|
||||
private const double SmoothPtpJerkShapeCoefficient = 52.5;
|
||||
|
||||
/// <summary>
|
||||
/// 单次 MoveJoint 最大采样点数上限，防止极端配置下生成过大的轨迹数组。
|
||||
/// </summary>
|
||||
private const int MaxMoveJointSampleCount = 1_000_000;
|
||||
|
||||
/// <summary>
|
||||
/// 离散限位校验允许的浮点容差。
|
||||
/// </summary>
|
||||
private const double DiscreteLimitTolerance = 1.000001;
|
||||
|
||||
/// <summary>
|
||||
/// 离散限位校验失败时最多拉长的采样周期次数。
|
||||
/// </summary>
|
||||
private const int MaxDiscreteLimitStretchIterations = 10_000;
|
||||
|
||||
/// <summary>
|
||||
/// 计算 MoveJoint 轨迹的完整结果。
|
||||
///
|
||||
/// 处理流程：
|
||||
/// 1. 根据关节限位计算连续时间律理论最短时长
|
||||
/// 2. 按 speedRatio 换算轨迹采样周期，并将时长对齐到整数个采样间隔
|
||||
/// 3. 用 7 阶平滑点到点时间律生成稠密轨迹点
|
||||
/// 4. 按离散点反查速度、加速度和 jerk，必要时拉长时长重算
|
||||
/// 5. 封装为 TrajectoryResult 返回
|
||||
/// </summary>
|
||||
/// <param name="robot">机器人配置，含自由度数和关节限位。</param>
|
||||
/// <param name="startJoints">起始关节角（弧度）。</param>
|
||||
/// <param name="targetJoints">目标关节角（弧度）。</param>
|
||||
/// <param name="speedRatio">速度倍率，必须大于 0；当前链路中用于换算轨迹采样周期。</param>
|
||||
/// <param name="logger">可选的诊断日志。</param>
|
||||
public static TrajectoryResult CreateResult(
|
||||
RobotProfile robot,
|
||||
IReadOnlyList<double> startJoints,
|
||||
IReadOnlyList<double> targetJoints,
|
||||
double speedRatio,
|
||||
ILogger? logger = null)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
ArgumentNullException.ThrowIfNull(startJoints);
|
||||
ArgumentNullException.ThrowIfNull(targetJoints);
|
||||
|
||||
if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||
{
|
||||
throw new InvalidOperationException("Speed ratio must be greater than zero for MoveJoint execution.");
|
||||
}
|
||||
|
||||
if (startJoints.Count != robot.DegreesOfFreedom || targetJoints.Count != robot.DegreesOfFreedom)
|
||||
{
|
||||
throw new InvalidOperationException($"MoveJoint expects {robot.DegreesOfFreedom} joints.");
|
||||
}
|
||||
|
||||
var requestedDurationSeconds = ResolveDurationSeconds(robot, startJoints, targetJoints);
|
||||
var samplePeriodSeconds = robot.ServoPeriod.TotalSeconds * speedRatio;
|
||||
var durationSeconds = AlignDurationToServoStep(requestedDurationSeconds, samplePeriodSeconds);
|
||||
var denseJointTrajectory = GenerateDenseTrajectory(startJoints, targetJoints, durationSeconds, samplePeriodSeconds);
|
||||
|
||||
var stretchCount = 0;
|
||||
while (!SatisfiesDiscreteJointLimits(robot, denseJointTrajectory))
|
||||
{
|
||||
stretchCount++;
|
||||
if (stretchCount > MaxDiscreteLimitStretchIterations)
|
||||
{
|
||||
throw new InvalidOperationException("MoveJoint duration cannot be stretched enough to satisfy joint limits.");
|
||||
}
|
||||
|
||||
// 连续时间律满足限位后，仍以实际离散点为准；不满足时逐周期拉长后重采样。
|
||||
durationSeconds = AlignDurationToServoStep(durationSeconds + samplePeriodSeconds, samplePeriodSeconds);
|
||||
denseJointTrajectory = GenerateDenseTrajectory(startJoints, targetJoints, durationSeconds, samplePeriodSeconds);
|
||||
}
|
||||
|
||||
logger?.LogDebug(
|
||||
"MoveJointTrajectoryGenerator: requestedDuration={RequestedDuration:F4}s, duration={Duration:F4}s, speedRatio={SpeedRatio}, samplePeriod={SamplePeriod:F6}s, sampleCount={SampleCount}, stretchCount={StretchCount}",
|
||||
requestedDurationSeconds,
|
||||
durationSeconds,
|
||||
speedRatio,
|
||||
samplePeriodSeconds,
|
||||
denseJointTrajectory.Count,
|
||||
stretchCount);
|
||||
|
||||
return new TrajectoryResult(
|
||||
programName: "move-joint",
|
||||
method: PlanningMethod.Doubles,
|
||||
isValid: true,
|
||||
duration: TimeSpan.FromSeconds(durationSeconds),
|
||||
shotEvents: Array.Empty<ShotEvent>(),
|
||||
triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
|
||||
artifacts: Array.Empty<TrajectoryArtifact>(),
|
||||
failureReason: null,
|
||||
usedCache: false,
|
||||
originalWaypointCount: 2,
|
||||
plannedWaypointCount: denseJointTrajectory.Count,
|
||||
denseJointTrajectory: denseJointTrajectory);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据 7 阶平滑点到点时间律和每轴限位，计算 MoveJoint 理论最短时长。
|
||||
///
|
||||
/// 时间律为 s(u)=35u^4-84u^5+70u^6-20u^7，其中 u=t/T。
|
||||
/// 各轴位移 d_i 共用同一个 s(t)，所以每轴分别按 d_i 放大速度、加速度和 jerk，再取全局最大时长。
|
||||
/// </summary>
|
||||
internal static double ResolveDurationSeconds(
|
||||
RobotProfile robot,
|
||||
IReadOnlyList<double> startJoints,
|
||||
IReadOnlyList<double> targetJoints)
|
||||
{
|
||||
var duration = MinimumMoveJointDurationSeconds;
|
||||
|
||||
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||
{
|
||||
var distance = Math.Abs(targetJoints[index] - startJoints[index]);
|
||||
if (distance <= 0.0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var limit = robot.JointLimits[index];
|
||||
var velocityDuration = distance * SmoothPtpVelocityShapeCoefficient / limit.VelocityLimit;
|
||||
var accelerationDuration = Math.Sqrt(distance * SmoothPtpAccelerationShapeCoefficient / limit.AccelerationLimit);
|
||||
var jerkDuration = Math.Cbrt(distance * SmoothPtpJerkShapeCoefficient / limit.JerkLimit);
|
||||
|
||||
duration = Math.Max(duration, Math.Max(velocityDuration, Math.Max(accelerationDuration, jerkDuration)));
|
||||
}
|
||||
|
||||
return duration;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将请求时长向上对齐到整数个采样周期，确保轨迹末帧正好落在 duration 处。
|
||||
/// </summary>
|
||||
/// <param name="durationSeconds">请求的理论最短时长（秒）。</param>
|
||||
/// <param name="samplePeriodSeconds">采样周期（秒）。</param>
|
||||
/// <returns>对齐后的时长，为 samplePeriodSeconds 的整数倍。</returns>
|
||||
internal static double AlignDurationToServoStep(double durationSeconds, double samplePeriodSeconds)
|
||||
{
|
||||
if (samplePeriodSeconds <= 0.0 || double.IsNaN(samplePeriodSeconds) || double.IsInfinity(samplePeriodSeconds))
|
||||
{
|
||||
throw new InvalidOperationException("Speed ratio must be greater than zero for MoveJoint execution.");
|
||||
}
|
||||
|
||||
var intervals = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds);
|
||||
|
||||
return intervals * samplePeriodSeconds;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 生成从起始关节角到目标关节角的稠密等时间隔轨迹点序列。
|
||||
///
|
||||
/// 每行格式：[time_seconds, joint_0, joint_1, ..., joint_n-1]。
|
||||
/// </summary>
|
||||
internal static IReadOnlyList<IReadOnlyList<double>> GenerateDenseTrajectory(
|
||||
IReadOnlyList<double> startJoints,
|
||||
IReadOnlyList<double> targetJoints,
|
||||
double durationSeconds,
|
||||
double samplePeriodSeconds)
|
||||
{
|
||||
var sampleCount = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds) + 1;
|
||||
var rows = new List<IReadOnlyList<double>>(checked((int)sampleCount));
|
||||
|
||||
for (var index = 0L; index < sampleCount; index++)
|
||||
{
|
||||
var time = Math.Min(index * samplePeriodSeconds, durationSeconds);
|
||||
rows.Add(CreateRow(time, durationSeconds, startJoints, targetJoints));
|
||||
}
|
||||
|
||||
return rows;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 计算 7 阶平滑点到点时间律的位置归一化值。
|
||||
/// </summary>
|
||||
/// <param name="normalizedTime">归一化时间 u，取值会被限制在 [0, 1]。</param>
|
||||
/// <returns>归一化位置 s(u)，范围 [0, 1]。</returns>
|
||||
internal static double EvaluateSmoothPtpPositionScale(double normalizedTime)
|
||||
{
|
||||
var clamped = Math.Clamp(normalizedTime, 0.0, 1.0);
|
||||
var u2 = clamped * clamped;
|
||||
var u4 = u2 * u2;
|
||||
|
||||
return u4 * (35.0 + (clamped * (-84.0 + (clamped * (70.0 - (20.0 * clamped))))));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 计算时长对应的采样间隔数（向上取整）。
|
||||
/// 采样间隔数 + 1 = 采样点数，因为轨迹包含起点和终点。
|
||||
/// </summary>
|
||||
private static long ResolveSampleIntervalCount(double durationSeconds, double samplePeriodSeconds)
|
||||
{
|
||||
var rawIntervals = durationSeconds / samplePeriodSeconds;
|
||||
if (double.IsNaN(rawIntervals) || double.IsInfinity(rawIntervals))
|
||||
{
|
||||
throw new InvalidOperationException("MoveJoint sample count is not representable.");
|
||||
}
|
||||
|
||||
var intervals = (long)Math.Ceiling(Math.Max(0.0, rawIntervals) - 1e-9);
|
||||
intervals = Math.Max(1, intervals);
|
||||
if (intervals + 1 > MaxMoveJointSampleCount)
|
||||
{
|
||||
throw new InvalidOperationException($"MoveJoint sample count must be between 2 and {MaxMoveJointSampleCount}.");
|
||||
}
|
||||
|
||||
return intervals;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造单个轨迹行：[time_seconds, joint_0, ..., joint_N-1]。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<double> CreateRow(
|
||||
double timeSeconds,
|
||||
double durationSeconds,
|
||||
IReadOnlyList<double> startJoints,
|
||||
IReadOnlyList<double> targetJoints)
|
||||
{
|
||||
var u = durationSeconds <= 0.0 ? 1.0 : Math.Clamp(timeSeconds / durationSeconds, 0.0, 1.0);
|
||||
var scale = EvaluateSmoothPtpPositionScale(u);
|
||||
var row = new double[startJoints.Count + 1];
|
||||
row[0] = Math.Round(timeSeconds, 9);
|
||||
|
||||
for (var index = 0; index < startJoints.Count; index++)
|
||||
{
|
||||
row[index + 1] = startJoints[index] + ((targetJoints[index] - startJoints[index]) * scale);
|
||||
}
|
||||
|
||||
return row;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 用生成后的离散采样点复核每轴速度、加速度和 jerk，避免连续时间律在采样后仍出现差分越限。
|
||||
/// </summary>
|
||||
private static bool SatisfiesDiscreteJointLimits(RobotProfile robot, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
double? previousTime = null;
|
||||
double[]? previousPositions = null;
|
||||
double[]? previousVelocities = null;
|
||||
double[]? previousAccelerations = null;
|
||||
|
||||
foreach (var row in rows)
|
||||
{
|
||||
var currentTime = row[0];
|
||||
var currentPositions = new double[robot.DegreesOfFreedom];
|
||||
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||
{
|
||||
currentPositions[index] = row[index + 1];
|
||||
}
|
||||
|
||||
if (previousTime is not null && previousPositions is not null)
|
||||
{
|
||||
var dt = currentTime - previousTime.Value;
|
||||
if (dt <= 0.0)
|
||||
{
|
||||
throw new InvalidOperationException("MoveJoint dense trajectory timestamps must be strictly increasing.");
|
||||
}
|
||||
|
||||
var velocities = new double[robot.DegreesOfFreedom];
|
||||
var accelerations = new double[robot.DegreesOfFreedom];
|
||||
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||
{
|
||||
var limit = robot.JointLimits[index];
|
||||
velocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
|
||||
if (Math.Abs(velocities[index]) > limit.VelocityLimit * DiscreteLimitTolerance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
accelerations[index] = previousVelocities is null
|
||||
? 0.0
|
||||
: (velocities[index] - previousVelocities[index]) / dt;
|
||||
if (Math.Abs(accelerations[index]) > limit.AccelerationLimit * DiscreteLimitTolerance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (previousAccelerations is not null)
|
||||
{
|
||||
var jerk = (accelerations[index] - previousAccelerations[index]) / dt;
|
||||
if (Math.Abs(jerk) > limit.JerkLimit * DiscreteLimitTolerance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
previousVelocities = velocities;
|
||||
previousAccelerations = accelerations;
|
||||
}
|
||||
|
||||
previousTime = currentTime;
|
||||
previousPositions = currentPositions;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -8,6 +8,7 @@
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
|
||||
<PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
|
||||
30
src/Flyshot.Core.Config/LoadedRobotModel.cs
Normal file
30
src/Flyshot.Core.Config/LoadedRobotModel.cs
Normal file
@@ -0,0 +1,30 @@
|
||||
using Flyshot.Core.Domain;
|
||||
|
||||
namespace Flyshot.Core.Config;
|
||||
|
||||
/// <summary>
|
||||
/// 表示一次 JSON 模型解析后生成的完整机器人模型视图集合。
|
||||
/// </summary>
|
||||
public sealed class LoadedRobotModel
|
||||
{
|
||||
/// <summary>
|
||||
/// 初始化完整机器人模型视图集合。
|
||||
/// </summary>
|
||||
/// <param name="profile">规划和运行时使用的关节约束视图。</param>
|
||||
/// <param name="kinematicsModel">正运动学导出使用的几何链视图。</param>
|
||||
public LoadedRobotModel(RobotProfile profile, RobotKinematicsModel kinematicsModel)
|
||||
{
|
||||
Profile = profile ?? throw new ArgumentNullException(nameof(profile));
|
||||
KinematicsModel = kinematicsModel ?? throw new ArgumentNullException(nameof(kinematicsModel));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取规划和运行时使用的关节约束视图。
|
||||
/// </summary>
|
||||
public RobotProfile Profile { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取正运动学导出使用的几何链视图。
|
||||
/// </summary>
|
||||
public RobotKinematicsModel KinematicsModel { get; }
|
||||
}
|
||||
@@ -22,7 +22,7 @@ public enum CompatibilityPathStyle
|
||||
public static class PathCompatibility
|
||||
{
|
||||
/// <summary>
|
||||
/// 按旧系统常见目录约定解析配置文件路径。
|
||||
/// 按当前服务配置目录约定解析配置文件路径。
|
||||
/// </summary>
|
||||
/// <param name="configPath">调用方传入的原始配置路径。</param>
|
||||
/// <param name="repoRoot">当前兼容搜索的仓库根目录。</param>
|
||||
@@ -48,11 +48,10 @@ public static class PathCompatibility
|
||||
}
|
||||
|
||||
var normalizedRepoRoot = Path.GetFullPath(repoRoot);
|
||||
var fileName = Path.GetFileName(rawPath);
|
||||
var checkedPaths = new List<string>();
|
||||
|
||||
// 先按最常见的候选路径顺序尝试，保持与旧工具链相近的定位逻辑。
|
||||
foreach (var candidate in BuildConfigCandidates(normalizedRepoRoot, rawPath, fileName))
|
||||
// 相对路径只允许落在当前服务根目录的 Config 下，避免隐式回退到父工作区旧文件。
|
||||
foreach (var candidate in BuildConfigCandidates(normalizedRepoRoot, rawPath))
|
||||
{
|
||||
var fullCandidate = Path.GetFullPath(candidate);
|
||||
if (checkedPaths.Contains(fullCandidate, StringComparer.OrdinalIgnoreCase))
|
||||
@@ -67,18 +66,6 @@ public static class PathCompatibility
|
||||
}
|
||||
}
|
||||
|
||||
// 最后一层兜底按文件名全仓库搜索，但只接受唯一命中，避免同名配置误判。
|
||||
var matches = Directory
|
||||
.EnumerateFiles(normalizedRepoRoot, fileName, SearchOption.AllDirectories)
|
||||
.Select(Path.GetFullPath)
|
||||
.Distinct(StringComparer.OrdinalIgnoreCase)
|
||||
.ToArray();
|
||||
|
||||
if (matches.Length == 1)
|
||||
{
|
||||
return matches[0];
|
||||
}
|
||||
|
||||
throw new FileNotFoundException(
|
||||
$"未找到配置文件 '{configPath}'。已检查: {string.Join(", ", checkedPaths)}",
|
||||
configPath);
|
||||
@@ -106,15 +93,11 @@ public static class PathCompatibility
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 枚举旧系统中最常见的配置候选路径。
|
||||
/// 枚举当前服务配置目录下允许的配置候选路径。
|
||||
/// </summary>
|
||||
private static IEnumerable<string> BuildConfigCandidates(string repoRoot, string rawPath, string fileName)
|
||||
private static IEnumerable<string> BuildConfigCandidates(string repoRoot, string rawPath)
|
||||
{
|
||||
yield return Path.Combine(repoRoot, rawPath);
|
||||
yield return Path.Combine(repoRoot, "Rvbust", "Data", fileName);
|
||||
yield return Path.Combine(repoRoot, "Rvbust", "Install", "FlyingShot", "Config", fileName);
|
||||
yield return Path.Combine(repoRoot, "Rvbust", fileName);
|
||||
yield return Path.Combine(repoRoot, fileName);
|
||||
yield return Path.Combine(repoRoot, "Config", rawPath);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
using System.Text.Json;
|
||||
using Flyshot.Core.Domain;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Core.Config;
|
||||
|
||||
@@ -17,7 +18,9 @@ public sealed class CompatibilityRobotSettings
|
||||
int ioKeepCycles,
|
||||
double accLimitScale,
|
||||
double jerkLimitScale,
|
||||
int adaptIcspTryNum)
|
||||
int adaptIcspTryNum,
|
||||
double planningSpeedScale = 1.0,
|
||||
bool smoothStartStopTiming = true)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(ioAddresses);
|
||||
|
||||
@@ -36,6 +39,11 @@ public sealed class CompatibilityRobotSettings
|
||||
throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
|
||||
}
|
||||
|
||||
if (planningSpeedScale <= 0.0 || double.IsNaN(planningSpeedScale) || double.IsInfinity(planningSpeedScale))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
|
||||
}
|
||||
|
||||
if (adaptIcspTryNum < 0)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
|
||||
@@ -54,6 +62,8 @@ public sealed class CompatibilityRobotSettings
|
||||
AccLimitScale = accLimitScale;
|
||||
JerkLimitScale = jerkLimitScale;
|
||||
AdaptIcspTryNum = adaptIcspTryNum;
|
||||
PlanningSpeedScale = planningSpeedScale;
|
||||
SmoothStartStopTiming = smoothStartStopTiming;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -81,6 +91,16 @@ public sealed class CompatibilityRobotSettings
|
||||
/// </summary>
|
||||
public double JerkLimitScale { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取规划阶段的全局速度倍率，只影响 JointTraj 基准时间，不等同于运行时 J519 下发速度倍率。
|
||||
/// </summary>
|
||||
public double PlanningSpeedScale { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取是否在飞拍执行前对整段时间轴做二次平滑起停重映射。
|
||||
/// </summary>
|
||||
public bool SmoothStartStopTiming { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取自适应补点最大尝试次数。
|
||||
/// </summary>
|
||||
@@ -131,6 +151,17 @@ public sealed class LoadedRobotConfig
|
||||
/// </summary>
|
||||
public sealed class RobotConfigLoader
|
||||
{
|
||||
private readonly ILogger<RobotConfigLoader>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 RobotConfigLoader。
|
||||
/// </summary>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public RobotConfigLoader(ILogger<RobotConfigLoader>? logger = null)
|
||||
{
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 加载一份旧版 RobotConfig.json。
|
||||
/// </summary>
|
||||
@@ -139,6 +170,8 @@ public sealed class RobotConfigLoader
|
||||
/// <returns>规范化后的配置文档。</returns>
|
||||
public LoadedRobotConfig Load(string configPath, string? repoRoot = null)
|
||||
{
|
||||
_logger?.LogInformation("RobotConfig 开始加载: configPath={ConfigPath}, repoRoot={RepoRoot}", configPath, repoRoot);
|
||||
|
||||
var resolvedRepoRoot = ResolveRepoRoot(repoRoot);
|
||||
var resolvedConfigPath = PathCompatibility.ResolveConfigPath(configPath, resolvedRepoRoot);
|
||||
|
||||
@@ -153,7 +186,9 @@ public sealed class RobotConfigLoader
|
||||
ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0),
|
||||
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));
|
||||
adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0),
|
||||
planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0),
|
||||
smoothStartStopTiming: ReadBoolean(robotElement, "smooth_start_stop_timing", defaultValue: true));
|
||||
|
||||
var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
|
||||
foreach (var programElement in flyingShotsElement.EnumerateObject())
|
||||
@@ -163,6 +198,10 @@ public sealed class RobotConfigLoader
|
||||
programs.Add(programName, program);
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
|
||||
resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.SmoothStartStopTiming, robot.AdaptIcspTryNum, programs.Count);
|
||||
|
||||
return new LoadedRobotConfig(
|
||||
sourcePath: resolvedConfigPath,
|
||||
robot: robot,
|
||||
@@ -253,7 +292,7 @@ public sealed class RobotConfigLoader
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 推断仓库根目录，优先使用调用方显式传入的值。
|
||||
/// 推断当前 replacement 仓库根目录，优先使用调用方显式传入的值。
|
||||
/// </summary>
|
||||
private static string ResolveRepoRoot(string? repoRoot)
|
||||
{
|
||||
@@ -267,7 +306,7 @@ public sealed class RobotConfigLoader
|
||||
{
|
||||
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
|
||||
{
|
||||
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
|
||||
return current.FullName;
|
||||
}
|
||||
|
||||
current = current.Parent;
|
||||
|
||||
@@ -1,28 +1,49 @@
|
||||
using System.Text;
|
||||
using System.Text.Json;
|
||||
using Flyshot.Core.Domain;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Core.Config;
|
||||
|
||||
/// <summary>
|
||||
/// 从旧版 .robot(GLB) 文件中提取关节限制、模型名和 couple 元数据。
|
||||
/// 从现场固化的机器人 JSON 模型中提取关节限制、几何链和 couple 元数据。
|
||||
/// </summary>
|
||||
public sealed class RobotModelLoader
|
||||
{
|
||||
private const uint JsonChunkType = 0x4E4F534A;
|
||||
private readonly ILogger<RobotModelLoader>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 加载 .robot 文件并生成规划侧可直接消费的 RobotProfile。
|
||||
/// 初始化 RobotModelLoader。
|
||||
/// </summary>
|
||||
/// <param name="modelPath">.robot 文件路径。</param>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public RobotModelLoader(ILogger<RobotModelLoader>? logger = null)
|
||||
{
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 加载机器人 JSON 文件并生成规划侧可直接消费的 RobotProfile。
|
||||
/// </summary>
|
||||
/// <param name="modelPath">机器人 JSON 文件路径。</param>
|
||||
/// <param name="accLimitScale">加速度全局倍率。</param>
|
||||
/// <param name="jerkLimitScale">Jerk 全局倍率。</param>
|
||||
/// <returns>包含关节限制和 couple 信息的 RobotProfile。</returns>
|
||||
public RobotProfile LoadProfile(string modelPath, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
|
||||
{
|
||||
return LoadProfileAndKinematics(modelPath, accLimitScale, jerkLimitScale).Profile;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 加载机器人 JSON 文件并一次性生成规划约束视图与运动学几何视图。
|
||||
/// </summary>
|
||||
/// <param name="modelPath">机器人 JSON 文件路径。</param>
|
||||
/// <param name="accLimitScale">加速度全局倍率。</param>
|
||||
/// <param name="jerkLimitScale">Jerk 全局倍率。</param>
|
||||
/// <returns>包含规划约束视图和运动学几何视图的加载结果。</returns>
|
||||
public LoadedRobotModel LoadProfileAndKinematics(string modelPath, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(modelPath))
|
||||
{
|
||||
throw new ArgumentException(".robot 路径不能为空。", nameof(modelPath));
|
||||
throw new ArgumentException("机器人 JSON 路径不能为空。", nameof(modelPath));
|
||||
}
|
||||
|
||||
if (accLimitScale <= 0.0)
|
||||
@@ -35,15 +56,72 @@ public sealed class RobotModelLoader
|
||||
throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("RobotModel JSON 开始加载: modelPath={ModelPath}, accLimitScale={AccLimitScale}, jerkLimitScale={JerkLimitScale}", modelPath, accLimitScale, jerkLimitScale);
|
||||
|
||||
var resolvedModelPath = Path.GetFullPath(modelPath);
|
||||
var jsonText = ReadJsonChunk(resolvedModelPath);
|
||||
using var document = JsonDocument.Parse(jsonText);
|
||||
using var document = JsonDocument.Parse(File.ReadAllText(resolvedModelPath));
|
||||
|
||||
var robotBody = FindRobotBody(document.RootElement);
|
||||
var profileName = robotBody.TryGetProperty("name", out var nameElement)
|
||||
? nameElement.GetString() ?? Path.GetFileNameWithoutExtension(resolvedModelPath)
|
||||
: Path.GetFileNameWithoutExtension(resolvedModelPath);
|
||||
|
||||
var profile = BuildProfile(robotBody, profileName, resolvedModelPath, accLimitScale, jerkLimitScale);
|
||||
var kinematicsModel = BuildKinematicsModel(robotBody, profileName);
|
||||
|
||||
_logger?.LogInformation(
|
||||
"RobotModel JSON 加载完成: profileName={ProfileName}, dof={Dof}, 几何关节数={JointCount}, resolvedPath={ResolvedPath}",
|
||||
profile.Name, profile.DegreesOfFreedom, kinematicsModel.Joints.Count, resolvedModelPath);
|
||||
|
||||
return new LoadedRobotModel(profile, kinematicsModel);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 加载机器人 JSON 文件并生成运动学侧需要的完整几何模型。
|
||||
/// </summary>
|
||||
/// <param name="modelPath">机器人 JSON 文件路径。</param>
|
||||
/// <returns>包含完整关节几何链的运动学模型。</returns>
|
||||
public RobotKinematicsModel LoadKinematicsModel(string modelPath)
|
||||
{
|
||||
return LoadProfileAndKinematics(modelPath).KinematicsModel;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 在 robotics.bodies 中找到当前现场机器人主体。
|
||||
/// </summary>
|
||||
private static JsonElement FindRobotBody(JsonElement root)
|
||||
{
|
||||
var bodies = root
|
||||
.GetProperty("scenes")[0]
|
||||
.GetProperty("extras")
|
||||
.GetProperty("rvbust")
|
||||
.GetProperty("robotics")
|
||||
.GetProperty("bodies");
|
||||
|
||||
foreach (var body in bodies.EnumerateArray())
|
||||
{
|
||||
if (body.TryGetProperty("type", out var typeElement) && typeElement.GetInt32() == 2)
|
||||
{
|
||||
return body;
|
||||
}
|
||||
}
|
||||
|
||||
foreach (var body in bodies.EnumerateArray())
|
||||
{
|
||||
if (body.TryGetProperty("joints", out _) && body.TryGetProperty("name", out _))
|
||||
{
|
||||
return body;
|
||||
}
|
||||
}
|
||||
|
||||
throw new InvalidDataException("未在机器人 JSON 中找到包含 joints 的机器人主体。");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从机器人主体构造规划约束视图。
|
||||
/// </summary>
|
||||
private RobotProfile BuildProfile(JsonElement robotBody, string profileName, string resolvedModelPath, double accLimitScale, double jerkLimitScale)
|
||||
{
|
||||
var jointLimits = new List<JointLimit>();
|
||||
var jointCouplings = new List<JointCoupling>();
|
||||
|
||||
@@ -67,15 +145,22 @@ public sealed class RobotModelLoader
|
||||
{
|
||||
var masterJointName = coupleElement.GetProperty("master_joint").GetString()
|
||||
?? throw new InvalidDataException($"关节 {jointName} 的 couple 缺少 master_joint。");
|
||||
|
||||
var multiplier = coupleElement.TryGetProperty("multiplier", out var multiplierElement) ? multiplierElement.GetDouble() : 0.0;
|
||||
var offset = coupleElement.TryGetProperty("offset", out var offsetElement) ? offsetElement.GetDouble() : 0.0;
|
||||
jointCouplings.Add(new JointCoupling(
|
||||
slaveJointName: jointName,
|
||||
masterJointName: masterJointName,
|
||||
multiplier: coupleElement.TryGetProperty("multiplier", out var multiplierElement) ? multiplierElement.GetDouble() : 0.0,
|
||||
offset: coupleElement.TryGetProperty("offset", out var offsetElement) ? offsetElement.GetDouble() : 0.0));
|
||||
multiplier: multiplier,
|
||||
offset: offset));
|
||||
_logger?.LogInformation("关节 {JointName} 的耦合关系: 主关节={MasterJointName}, 比例={Multiplier}, 偏移={Offset}", jointName, masterJointName, multiplier, offset);
|
||||
}
|
||||
}
|
||||
|
||||
foreach (var jointLimit in jointLimits)
|
||||
{
|
||||
_logger?.LogInformation("关节 {JointName} 的限制值: 速度={VelocityLimit}, 加速度={AccelerationLimit}, Jerk={JerkLimit}", jointLimit.JointName, jointLimit.VelocityLimit, jointLimit.AccelerationLimit, jointLimit.JerkLimit);
|
||||
}
|
||||
|
||||
return new RobotProfile(
|
||||
name: profileName,
|
||||
modelPath: resolvedModelPath,
|
||||
@@ -87,99 +172,32 @@ public sealed class RobotModelLoader
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从 GLB 文件中提取 JSON chunk 文本。
|
||||
/// 从机器人主体构造正运动学几何视图。
|
||||
/// </summary>
|
||||
private static string ReadJsonChunk(string modelPath)
|
||||
private RobotKinematicsModel BuildKinematicsModel(JsonElement robotBody, string profileName)
|
||||
{
|
||||
using var stream = File.OpenRead(modelPath);
|
||||
using var reader = new BinaryReader(stream, Encoding.UTF8, leaveOpen: false);
|
||||
|
||||
var magic = Encoding.ASCII.GetString(reader.ReadBytes(4));
|
||||
if (!string.Equals(magic, "glTF", StringComparison.Ordinal))
|
||||
{
|
||||
throw new InvalidDataException($"{modelPath} 不是合法的 GLB 文件。");
|
||||
}
|
||||
|
||||
var version = reader.ReadUInt32();
|
||||
if (version != 2)
|
||||
{
|
||||
throw new NotSupportedException($"当前仅支持 GLB 2.0，实际版本为 {version}。");
|
||||
}
|
||||
|
||||
var totalLength = reader.ReadUInt32();
|
||||
while (stream.Position < totalLength)
|
||||
{
|
||||
var chunkLength = reader.ReadUInt32();
|
||||
var chunkType = reader.ReadUInt32();
|
||||
var chunkBytes = reader.ReadBytes((int)chunkLength);
|
||||
if (chunkType == JsonChunkType)
|
||||
{
|
||||
return Encoding.UTF8.GetString(chunkBytes);
|
||||
}
|
||||
}
|
||||
|
||||
throw new InvalidDataException($"{modelPath} 不包含 JSON chunk。");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 在 robotics.bodies 中找到 type=2 的机器人主体。
|
||||
/// </summary>
|
||||
private static JsonElement FindRobotBody(JsonElement root)
|
||||
{
|
||||
var bodies = root
|
||||
.GetProperty("scenes")[0]
|
||||
.GetProperty("extras")
|
||||
.GetProperty("rvbust")
|
||||
.GetProperty("robotics")
|
||||
.GetProperty("bodies");
|
||||
|
||||
foreach (var body in bodies.EnumerateArray())
|
||||
{
|
||||
if (body.TryGetProperty("type", out var typeElement) && typeElement.GetInt32() == 2)
|
||||
{
|
||||
return body;
|
||||
}
|
||||
}
|
||||
|
||||
throw new InvalidDataException("未在 .robot 文件中找到 type=2 的机器人主体。");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 加载 .robot 文件并生成运动学侧需要的完整几何模型。
|
||||
/// </summary>
|
||||
/// <param name="modelPath">.robot 文件路径。</param>
|
||||
/// <returns>包含完整关节几何链的运动学模型。</returns>
|
||||
public RobotKinematicsModel LoadKinematicsModel(string modelPath)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(modelPath))
|
||||
{
|
||||
throw new ArgumentException(".robot 路径不能为空。", nameof(modelPath));
|
||||
}
|
||||
|
||||
var resolvedModelPath = Path.GetFullPath(modelPath);
|
||||
var jsonText = ReadJsonChunk(resolvedModelPath);
|
||||
using var document = JsonDocument.Parse(jsonText);
|
||||
|
||||
var robotBody = FindRobotBody(document.RootElement);
|
||||
var profileName = robotBody.TryGetProperty("name", out var nameElement)
|
||||
? nameElement.GetString() ?? Path.GetFileNameWithoutExtension(resolvedModelPath)
|
||||
: Path.GetFileNameWithoutExtension(resolvedModelPath);
|
||||
|
||||
var joints = new List<RobotJointGeometry>();
|
||||
foreach (var jointElement in robotBody.GetProperty("joints").EnumerateArray())
|
||||
{
|
||||
var jointName = jointElement.GetProperty("name").GetString()
|
||||
?? throw new InvalidDataException("关节缺少 name。");
|
||||
// jointType: 关节类型编码；用于区分旋转关节/其他结构关节，后续几何链路可据此决定求解策略。
|
||||
var jointType = jointElement.TryGetProperty("type", out var typeElement)
|
||||
? typeElement.GetInt32()
|
||||
: 0;
|
||||
// origin: 关节局部原点配置，格式通常为 [x, y, z, qx, qy, qz, qw]，定义父坐标到关节坐标的位姿。
|
||||
var origin = jointElement.GetProperty("origin").EnumerateArray().Select(static e => e.GetDouble()).ToArray();
|
||||
// axis: 关节运动轴；部分模型为 4 元组 [x, y, z, scale]，其中方向向量用于正运动学雅可比计算。
|
||||
var axis = jointElement.GetProperty("axis").EnumerateArray().Select(static e => e.GetDouble()).ToArray();
|
||||
// axis 字段有时存的是 4 元组 [x, y, z, scale]，取最后 3 个作为方向向量。
|
||||
var axisVector = axis.Length >= 3 ? axis[^3..] : axis;
|
||||
// originXyz: 平移分量 (x,y,z)，用于构建关节在父链路下的位置偏移。
|
||||
var originXyz = origin.Length >= 3 ? origin[..3] : origin;
|
||||
var originQuat = origin.Length >= 7 ? origin[3..7] : new double[] { 0.0, 0.0, 0.0, 1.0 };
|
||||
// originQuat: 旋转分量 (qx,qy,qz,qw)，用于构建关节在父链路下的姿态；缺省时回退单位四元数。
|
||||
var originQuat = origin.Length >= 7 ? origin[3..7] : [0.0, 0.0, 0.0, 1.0];
|
||||
|
||||
// coupleMaster/coupleMultiplier/coupleOffset: 关节耦合参数，描述 slave 关节如何由 master 关节线性映射得到。
|
||||
// 典型关系: slave = master * multiplier + offset。
|
||||
string? coupleMaster = null;
|
||||
double coupleMultiplier = 0.0;
|
||||
double coupleOffset = 0.0;
|
||||
@@ -190,19 +208,45 @@ public sealed class RobotModelLoader
|
||||
coupleOffset = coupleElement.TryGetProperty("offset", out var o) ? o.GetDouble() : 0.0;
|
||||
}
|
||||
|
||||
var parentLink = jointElement.GetProperty("parent").GetString() ?? string.Empty;
|
||||
var childLink = jointElement.GetProperty("child").GetString() ?? string.Empty;
|
||||
_logger?.LogInformation(
|
||||
"几何关节解析: name={JointName}, parent={Parent}, child={Child}, type={JointType}, axis={Axis}, originXyz={OriginXyz}, originQuat={OriginQuat}, coupleMaster={CoupleMaster}, coupleMultiplier={CoupleMultiplier}, coupleOffset={CoupleOffset}",
|
||||
jointName,
|
||||
parentLink,
|
||||
childLink,
|
||||
jointType,
|
||||
string.Join(", ", axisVector.Select(static v => v.ToString("G17"))),
|
||||
string.Join(", ", originXyz.Select(static v => v.ToString("G17"))),
|
||||
string.Join(", ", originQuat.Select(static v => v.ToString("G17"))),
|
||||
coupleMaster ?? "<none>",
|
||||
coupleMultiplier,
|
||||
coupleOffset);
|
||||
|
||||
joints.Add(new RobotJointGeometry(
|
||||
// name: 当前关节名，作为几何链和耦合关系的主键。
|
||||
name: jointName,
|
||||
parent: jointElement.GetProperty("parent").GetString() ?? string.Empty,
|
||||
child: jointElement.GetProperty("child").GetString() ?? string.Empty,
|
||||
// parent: 父 link 名称，用于串起机器人树结构。
|
||||
parent: parentLink,
|
||||
// child: 子 link 名称，标识该关节输出到哪个连杆。
|
||||
child: childLink,
|
||||
// jointType: 关节类型编码，供运动学模型区分计算路径。
|
||||
jointType: jointType,
|
||||
// axis: 关节轴方向向量，决定旋转/平移沿哪个局部方向发生。
|
||||
axis: axisVector,
|
||||
// originXyz: 关节原点平移分量。
|
||||
originXyz: originXyz,
|
||||
// originQuatXyzw: 关节原点旋转四元数分量。
|
||||
originQuatXyzw: originQuat,
|
||||
// coupleMaster: 耦合主关节名（无耦合时为 null）。
|
||||
coupleMaster: coupleMaster,
|
||||
// coupleMultiplier: 耦合线性比例系数。
|
||||
coupleMultiplier: coupleMultiplier,
|
||||
// coupleOffset: 耦合常量偏移量。
|
||||
coupleOffset: coupleOffset));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("几何模型构建完成: profileName={ProfileName}, jointCount={JointCount}", profileName, joints.Count);
|
||||
return new RobotKinematicsModel(name: profileName, joints: joints);
|
||||
}
|
||||
|
||||
|
||||
@@ -19,7 +19,13 @@ public sealed class ControllerStateSnapshot
|
||||
IEnumerable<double>? jointPositions = null,
|
||||
IEnumerable<double>? cartesianPose = null,
|
||||
IEnumerable<RuntimeAlarm>? activeAlarms = null,
|
||||
IEnumerable<uint>? stateTailWords = null)
|
||||
IEnumerable<uint>? stateTailWords = null,
|
||||
byte? j519Status = null,
|
||||
uint? j519Sequence = null,
|
||||
bool? j519AcceptsCommand = null,
|
||||
bool? j519ReceivedCommand = null,
|
||||
bool? j519SystemReady = null,
|
||||
bool? j519RobotInMotion = null)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(connectionState))
|
||||
{
|
||||
@@ -46,6 +52,12 @@ public sealed class ControllerStateSnapshot
|
||||
CartesianPose = copiedCartesianPose;
|
||||
ActiveAlarms = copiedActiveAlarms;
|
||||
StateTailWords = copiedStateTailWords;
|
||||
J519Status = j519Status;
|
||||
J519Sequence = j519Sequence;
|
||||
J519AcceptsCommand = j519AcceptsCommand;
|
||||
J519ReceivedCommand = j519ReceivedCommand;
|
||||
J519SystemReady = j519SystemReady;
|
||||
J519RobotInMotion = j519RobotInMotion;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -101,4 +113,40 @@ public sealed class ControllerStateSnapshot
|
||||
/// </summary>
|
||||
[JsonPropertyName("stateTailWords")]
|
||||
public IReadOnlyList<uint> StateTailWords { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取最近一次 UDP 60015 J519 响应的原始状态字节；没有响应时为 null。
|
||||
/// </summary>
|
||||
[JsonPropertyName("j519Status")]
|
||||
public byte? J519Status { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取最近一次 UDP 60015 J519 响应序号；没有响应时为 null。
|
||||
/// </summary>
|
||||
[JsonPropertyName("j519Sequence")]
|
||||
public uint? J519Sequence { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取 J519 accept_cmd 状态位；没有响应时为 null。
|
||||
/// </summary>
|
||||
[JsonPropertyName("j519AcceptsCommand")]
|
||||
public bool? J519AcceptsCommand { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取 J519 received_cmd 状态位；没有响应时为 null。
|
||||
/// </summary>
|
||||
[JsonPropertyName("j519ReceivedCommand")]
|
||||
public bool? J519ReceivedCommand { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取 J519 sysrdy 状态位；没有响应时为 null。
|
||||
/// </summary>
|
||||
[JsonPropertyName("j519SystemReady")]
|
||||
public bool? J519SystemReady { get; }
|
||||
|
||||
/// <summary>
|
||||
/// 获取 J519 rbt_inmotion 状态位；没有响应时为 null。
|
||||
/// </summary>
|
||||
[JsonPropertyName("j519RobotInMotion")]
|
||||
public bool? J519RobotInMotion { get; }
|
||||
}
|
||||
|
||||
@@ -3,7 +3,7 @@ using System.Text.Json.Serialization;
|
||||
namespace Flyshot.Core.Domain;
|
||||
|
||||
/// <summary>
|
||||
/// 描述机器人运动学链所需的完整关节几何信息，从 .robot GLB 中提取。
|
||||
/// 描述机器人运动学链所需的完整关节几何信息，从现场固化的机器人 JSON 中提取。
|
||||
///
|
||||
/// 为什么与 RobotProfile 分开？
|
||||
/// ---
|
||||
|
||||
@@ -3,12 +3,12 @@ using System.Text.Json.Serialization;
|
||||
namespace Flyshot.Core.Domain;
|
||||
|
||||
/// <summary>
|
||||
/// Describes the robot model contract consumed by planning and runtime orchestration.
|
||||
/// 描述规划与运行时编排共同使用的机器人模型契约。
|
||||
/// </summary>
|
||||
public sealed class RobotProfile
|
||||
{
|
||||
/// <summary>
|
||||
/// Initializes a new robot profile with validated joint limits and coupling metadata.
|
||||
/// 使用已校验的关节约束与耦合元数据初始化机器人画像。
|
||||
/// </summary>
|
||||
public RobotProfile(
|
||||
string name,
|
||||
@@ -47,7 +47,7 @@ public sealed class RobotProfile
|
||||
ArgumentNullException.ThrowIfNull(jointLimits);
|
||||
ArgumentNullException.ThrowIfNull(jointCouplings);
|
||||
|
||||
// Snapshot the collections once so downstream layers cannot mutate domain state in place.
|
||||
// 先对集合做一次快照，避免下游直接原地修改领域状态。
|
||||
var copiedJointLimits = jointLimits.ToArray();
|
||||
var copiedJointCouplings = jointCouplings.ToArray();
|
||||
|
||||
@@ -66,55 +66,55 @@ public sealed class RobotProfile
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Gets the robot profile name exposed to the rest of the runtime.
|
||||
/// 获取对运行时其余模块暴露的机器人画像名称。
|
||||
/// </summary>
|
||||
[JsonPropertyName("name")]
|
||||
public string Name { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the source path of the robot model file.
|
||||
/// 获取机器人模型文件的来源路径。
|
||||
/// </summary>
|
||||
[JsonPropertyName("modelPath")]
|
||||
public string ModelPath { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the active revolute degree-of-freedom count.
|
||||
/// 获取当前生效的旋转关节自由度数量。
|
||||
/// </summary>
|
||||
[JsonPropertyName("degreesOfFreedom")]
|
||||
public int DegreesOfFreedom { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the validated per-joint kinematic limits.
|
||||
/// 获取按关节校验后的运动学约束。
|
||||
/// </summary>
|
||||
[JsonPropertyName("jointLimits")]
|
||||
public IReadOnlyList<JointLimit> JointLimits { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets optional joint coupling metadata parsed from the robot model.
|
||||
/// 获取从机器人模型解析出的可选关节耦合元数据。
|
||||
/// </summary>
|
||||
[JsonPropertyName("jointCouplings")]
|
||||
public IReadOnlyList<JointCoupling> JointCouplings { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the servo scheduling period used by the runtime.
|
||||
/// 获取运行时使用的伺服调度周期。
|
||||
/// </summary>
|
||||
[JsonPropertyName("servoPeriod")]
|
||||
public TimeSpan ServoPeriod { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the trigger scheduling period used by shot-event alignment.
|
||||
/// 获取飞拍事件对齐使用的触发调度周期。
|
||||
/// </summary>
|
||||
[JsonPropertyName("triggerPeriod")]
|
||||
public TimeSpan TriggerPeriod { get; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Describes a single revolute joint limit set required by the planners.
|
||||
/// 描述规划器所需的单个旋转关节约束集合。
|
||||
/// </summary>
|
||||
public sealed class JointLimit
|
||||
{
|
||||
/// <summary>
|
||||
/// Initializes a validated joint limit record.
|
||||
/// 初始化一个已校验的关节约束记录。
|
||||
/// </summary>
|
||||
public JointLimit(string jointName, double velocityLimit, double accelerationLimit, double jerkLimit)
|
||||
{
|
||||
@@ -145,37 +145,37 @@ public sealed class JointLimit
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Gets the joint name associated with the limits.
|
||||
/// 获取该约束对应的关节名称。
|
||||
/// </summary>
|
||||
[JsonPropertyName("jointName")]
|
||||
public string JointName { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the velocity limit in joint space units.
|
||||
/// 获取关节空间单位下的速度上限。
|
||||
/// </summary>
|
||||
[JsonPropertyName("velocityLimit")]
|
||||
public double VelocityLimit { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the acceleration limit in joint space units.
|
||||
/// 获取关节空间单位下的加速度上限。
|
||||
/// </summary>
|
||||
[JsonPropertyName("accelerationLimit")]
|
||||
public double AccelerationLimit { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the jerk limit in joint space units.
|
||||
/// 获取关节空间单位下的跃度上限。
|
||||
/// </summary>
|
||||
[JsonPropertyName("jerkLimit")]
|
||||
public double JerkLimit { get; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Describes a joint-coupling rule that must be applied before kinematics or planning.
|
||||
/// 描述在运动学计算或轨迹规划前必须应用的关节耦合规则。
|
||||
/// </summary>
|
||||
public sealed class JointCoupling
|
||||
{
|
||||
/// <summary>
|
||||
/// Initializes a validated joint-coupling description.
|
||||
/// 初始化一个已校验的关节耦合描述。
|
||||
/// </summary>
|
||||
public JointCoupling(string slaveJointName, string masterJointName, double multiplier, double offset)
|
||||
{
|
||||
@@ -201,25 +201,25 @@ public sealed class JointCoupling
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Gets the dependent joint name.
|
||||
/// 获取从属（被驱动）关节名称。
|
||||
/// </summary>
|
||||
[JsonPropertyName("slaveJointName")]
|
||||
public string SlaveJointName { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the source joint name.
|
||||
/// 获取主导（驱动）关节名称。
|
||||
/// </summary>
|
||||
[JsonPropertyName("masterJointName")]
|
||||
public string MasterJointName { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the coupling multiplier applied to the master joint angle.
|
||||
/// 获取作用在主导关节角度上的耦合倍率。
|
||||
/// </summary>
|
||||
[JsonPropertyName("multiplier")]
|
||||
public double Multiplier { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Gets the additive offset applied after the multiplier.
|
||||
/// 获取在耦合倍率之后叠加的偏移量。
|
||||
/// </summary>
|
||||
[JsonPropertyName("offset")]
|
||||
public double Offset { get; }
|
||||
|
||||
@@ -15,12 +15,28 @@ namespace Flyshot.Core.Planning.Export;
|
||||
/// </summary>
|
||||
public static class TrajectoryExporter
|
||||
{
|
||||
/// <summary>
|
||||
/// 导出规划关节轨迹关键点到文本文件。
|
||||
/// </summary>
|
||||
public static void WriteJointTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
WriteRows(path, rows);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 导出稠密关节轨迹到文本文件。
|
||||
/// </summary>
|
||||
public static void WriteJointDenseTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
WriteDenseRows(path, rows);
|
||||
WriteRows(path, rows);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 导出规划笛卡尔轨迹关键点到文本文件。
|
||||
/// </summary>
|
||||
public static void WriteCartesianTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
WriteRows(path, rows);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -28,7 +44,7 @@ public static class TrajectoryExporter
|
||||
/// </summary>
|
||||
public static void WriteCartesianDenseTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
WriteDenseRows(path, rows);
|
||||
WriteRows(path, rows);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -53,7 +69,7 @@ public static class TrajectoryExporter
|
||||
File.WriteAllText(path, json, new UTF8Encoding(false));
|
||||
}
|
||||
|
||||
private static void WriteDenseRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
private static void WriteRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
var sb = new StringBuilder();
|
||||
foreach (var row in rows)
|
||||
|
||||
@@ -6,6 +6,10 @@
|
||||
<Nullable>enable</Nullable>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
194
src/Flyshot.Core.Planning/ICSP-算法说明.md
Normal file
194
src/Flyshot.Core.Planning/ICSP-算法说明.md
Normal file
@@ -0,0 +1,194 @@
|
||||
# ICSP 算法说明（`ICspPlanner`）
|
||||
|
||||
本文档用于解释 `Flyshot.Core.Planning.ICspPlanner` 当前实现的 **ICSP 规划算法**在本仓库中的真实含义与计算逻辑，便于与逆向结论对照、以及指导后续改造（例如“按约束生成中间点位”）。
|
||||
|
||||
> 适用范围：本文描述的是当前 C# 实现的 **“CubicSpline + 逐段时间缩放迭代（retiming）”** 版本。
|
||||
> 重要澄清：`ICspPlanner` 的主要输出是 **时间轴**（每个示教点的时间戳），而不是直接输出固定周期的稠密点序列；稠密点在后续采样层生成。
|
||||
|
||||
---
|
||||
|
||||
## 1. 名词与数据形态
|
||||
|
||||
### 1.1 输入
|
||||
|
||||
- **示教点（路点）**：`request.Program.Waypoints`
|
||||
每个路点是关节空间向量 \(q_i \in \mathbb{R}^{dof}\)。
|
||||
- **关节约束**：`request.Robot.JointLimits[d]` 提供每轴上限：
|
||||
- 速度上限 \(v_{lim}[d]\)
|
||||
- 加速度上限 \(a_{lim}[d]\)
|
||||
- 跃度（jerk）上限 \(j_{lim}[d]\)
|
||||
|
||||
### 1.2 输出（`PlannedTrajectory`）
|
||||
|
||||
`ICspPlanner` 的输出 **不是稠密轨迹点序列**，而是：
|
||||
|
||||
- `PlannedWaypoints`：规划后路点（对于普通 `icsp`，与输入示教点相同；补点发生在 `SelfAdaptIcspPlanner`）
|
||||
- `WaypointTimes`：每个路点的绝对时间 \(t_i\)（秒）
|
||||
- `SegmentDurations`：每段时长 \(T_i = t_{i+1}-t_i\)（秒）
|
||||
- `SegmentScales`：每段缩放因子 `scale_i`
|
||||
- `Iterations` / `Threshold`：收敛信息
|
||||
|
||||
后续模块会基于 `PlannedWaypoints + WaypointTimes` 重建样条并采样，生成稠密点：
|
||||
|
||||
- 规划层稠密采样：`TrajectorySampler.SampleJointTrajectory(...)`
|
||||
- 运行时 J519 重采样（速度倍率映射 + rad->deg）：`J519SendTrajectorySampler.SampleDenseJointTrajectory(...)`
|
||||
|
||||
---
|
||||
|
||||
## 2. 算法总体目标（retiming）
|
||||
|
||||
给定一组关节示教点 \(\{q_i\}_{i=0}^{N-1}\)，在不改变路点位置的前提下，为每段分配时长 \(\{T_i\}_{i=0}^{N-2}\)，使得用 **clamped-zero 三次样条**连接后的轨迹在每段上满足：
|
||||
|
||||
- \(\max|\dot q_d(t)| \le v_{lim}[d]\)
|
||||
- \(\max|\ddot q_d(t)| \le a_{lim}[d]\)
|
||||
- \(\max|\dddot q_d(t)| \le j_{lim}[d]\)
|
||||
|
||||
实现策略是“逐段缩放时长”的迭代法：每轮用当前 \(\{T_i\}\) 构造样条并解析求导峰值，再根据超限程度把相应段时长乘以缩放因子，使峰值回落。
|
||||
|
||||
---
|
||||
|
||||
## 3. 计算步骤（与代码一致）
|
||||
|
||||
### 3.1 前置条件
|
||||
|
||||
- 路点数 \(N \ge 4\)（否则抛异常）
|
||||
|
||||
### 3.2 初始段时长
|
||||
|
||||
段数 \(nseg = N-1\)。
|
||||
|
||||
初始段时长取相邻路点关节空间欧氏距离：
|
||||
|
||||
\[
|
||||
T_i^{(0)} = \|q_{i+1}-q_i\|_2
|
||||
\]
|
||||
|
||||
### 3.3 由段时长构造绝对时间轴
|
||||
|
||||
\[
|
||||
t_0 = 0,\quad t_{i+1} = t_i + T_i
|
||||
\]
|
||||
|
||||
### 3.4 用 clamped-zero 边界构造三次样条
|
||||
|
||||
以 \((t_i, q_i)\) 为节点构造分段三次多项式：
|
||||
|
||||
\[
|
||||
S_i(t) = a_i t^3 + b_i t^2 + c_i t + d_i,\quad t \in [t_i, t_{i+1}]
|
||||
\]
|
||||
|
||||
边界条件为 **clamped-zero**（起点/终点一阶导为 0），用于与逆向锁定的参考行为对齐。
|
||||
|
||||
### 3.5 解析计算每段导数峰值
|
||||
|
||||
对每段、每轴，解析求最大绝对值：
|
||||
|
||||
- 一阶导（速度）是二次函数：端点与顶点候选取最大
|
||||
- 二阶导（加速度）是一次函数：端点取最大
|
||||
- 三阶导（跃度）是常数：直接取绝对值
|
||||
|
||||
得到三张矩阵：
|
||||
|
||||
- `maxDq[seg,d] = max_t |dq/dt|`
|
||||
- `maxDdq[seg,d] = max_t |d²q/dt²|`
|
||||
- `maxDddq[seg,d] = max_t |d³q/dt³|`
|
||||
|
||||
### 3.6 计算每段缩放因子（核心公式）
|
||||
|
||||
对段 `seg`，对每个关节 `d` 计算三类“超限比”：
|
||||
|
||||
\[
|
||||
s_v = \left|\frac{maxDq[seg,d]}{v_{lim}[d]}\right|
|
||||
\]
|
||||
|
||||
\[
|
||||
s_a = \sqrt{\left|\frac{maxDdq[seg,d]}{a_{lim}[d]}\right|}
|
||||
\]
|
||||
|
||||
\[
|
||||
s_j = \sqrt[3]{\left|\frac{maxDddq[seg,d]}{j_{lim}[d]}\right|}
|
||||
\]
|
||||
|
||||
段缩放因子取所有轴、三类约束的最大值：
|
||||
|
||||
\[
|
||||
scale_{seg}=\max_d \max(s_v, s_a, s_j)
|
||||
\]
|
||||
|
||||
> 指数来源：时间拉长 \(k\) 倍时，速度按 \(1/k\) 缩小、加速度按 \(1/k^2\) 缩小、跃度按 \(1/k^3\) 缩小，因此超限比需要分别取一次方/平方根/立方根来求“应当拉长多少倍”。
|
||||
|
||||
### 3.7 收敛指标与最优解保存
|
||||
|
||||
每轮用如下指标衡量“离约束满足还差多少”：
|
||||
|
||||
\[
|
||||
threshold = \sum_{seg} |scale_{seg} - 1|
|
||||
\]
|
||||
|
||||
若本轮 `threshold` 小于历史最佳，则保存当前解作为 `best`（包含 `bestDurations / bestScales / bestWaypointTimes` 等）。
|
||||
|
||||
### 3.8 收敛判定与段时长更新
|
||||
|
||||
- 若 `threshold < _threshold`（默认 `1e-3`），认为收敛并提前结束迭代
|
||||
- 否则更新每段时长：
|
||||
|
||||
\[
|
||||
T_{seg} \leftarrow T_{seg} \cdot scale_{seg}
|
||||
\]
|
||||
|
||||
并进入下一轮。
|
||||
|
||||
---
|
||||
|
||||
## 4. 最终判定（global_scale）
|
||||
|
||||
迭代结束后取历史最优缩放因子的最大值：
|
||||
|
||||
\[
|
||||
globalScale=\max_{seg}(scale_{seg})
|
||||
\]
|
||||
|
||||
若启用强制判定（`enforceFinalScale=true`）且：
|
||||
|
||||
\[
|
||||
globalScale > 1 + \text{finalScaleTolerance}
|
||||
\]
|
||||
|
||||
则判定“未收敛/不可执行”并抛异常。默认容差 `finalScaleTolerance=1e-2`，用于容忍 C# spline 与参考实现间的小量数值差异。
|
||||
|
||||
---
|
||||
|
||||
## 5. 与“补点/中间点位”的关系（常见误解澄清）
|
||||
|
||||
### 5.1 `ICspPlanner` 不负责生成固定周期的中间点位
|
||||
|
||||
`ICspPlanner` 的核心工作是 **时间轴规划（retiming）**：在不改变示教点位置的情况下，通过缩放每段时长让样条导数峰值满足约束。
|
||||
|
||||
固定周期（例如 8ms/16ms）的“中间点位序列”属于 **采样层**：
|
||||
|
||||
- `TrajectorySampler`：按 `samplePeriod` 在样条上取样，得到 `[time, j1..jN]`（关节单位仍为 rad）
|
||||
- `J519SendTrajectorySampler`：按 `servoPeriod` 生成真实发送序列，用 `speedRatio` 把 `sendTime` 映射到 `trajectoryTime` 并线性插值，再做 `rad -> deg`
|
||||
|
||||
### 5.2 `SelfAdaptIcspPlanner` 才包含“补点”逻辑，但它很粗
|
||||
|
||||
`self-adapt-icsp` 的补点策略在 `SelfAdaptIcspPlanner` 中：当某些段 `scale > 1 + tolerance` 时，对这些段插入关节空间**中点**再重规划。该策略的目的主要是“救收敛”，不是生成最终稠密序列。
|
||||
|
||||
---
|
||||
|
||||
## 6. 后续改造建议（定位落点）
|
||||
|
||||
如果需求是“根据示教点 + v/a/j 限制，直接生成可下发的稠密点位序列”，通常有两条路径：
|
||||
|
||||
1. **保留 ICSP retiming**：继续用 `ICspPlanner` 求时间轴，再在采样层按固定周期生成中间点位（当前架构就是这条路）。此时需要讨论的是采样周期、速度倍率映射、以及是否要对采样序列再做约束校验或二次整形。
|
||||
2. **做真正的自适应插点/细分**：把“插点策略”升级为基于约束的细分（而不只是插中点），这更自然的落点是 `SelfAdaptIcspPlanner` 或新增一个“约束驱动细分器”，而不是把稠密点生成塞进 `ICspPlanner`。
|
||||
|
||||
---
|
||||
|
||||
## 7. 关联实现位置（便于跳转）
|
||||
|
||||
- 算法入口：`src/Flyshot.Core.Planning/ICspPlanner.cs`
|
||||
- 自适应补点：`src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs`
|
||||
- 三次样条实现（clamped-zero + 解析导峰值）：`src/Flyshot.Core.Planning/CubicSplineInterpolator.cs`
|
||||
- 规划层稠密采样：`src/Flyshot.Core.Planning/Sampling/TrajectorySampler.cs`
|
||||
- J519 实发重采样：`src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs`
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
using Flyshot.Core.Domain;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Core.Planning;
|
||||
|
||||
@@ -33,6 +34,7 @@ public sealed class ICspPlanner
|
||||
private readonly int _maxIterations;
|
||||
private readonly bool _enforceFinalScale;
|
||||
private readonly double _finalScaleTolerance;
|
||||
private readonly ILogger<ICspPlanner>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 ICSP 规划器。
|
||||
@@ -41,11 +43,13 @@ public sealed class ICspPlanner
|
||||
/// <param name="maxIterations">最大迭代轮数。</param>
|
||||
/// <param name="enforceFinalScale">是否在最终最优 scale 仍大于 1.0 时抛出失败。</param>
|
||||
/// <param name="finalScaleTolerance">最终 scale 判定容差。</param>
|
||||
/// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
|
||||
public ICspPlanner(
|
||||
double threshold = DefaultThreshold,
|
||||
int maxIterations = DefaultMaxIterations,
|
||||
bool enforceFinalScale = true,
|
||||
double finalScaleTolerance = DefaultFinalScaleTolerance)
|
||||
double finalScaleTolerance = DefaultFinalScaleTolerance,
|
||||
ILogger<ICspPlanner>? logger = null)
|
||||
{
|
||||
if (threshold <= 0.0 || double.IsNaN(threshold) || double.IsInfinity(threshold))
|
||||
{
|
||||
@@ -66,6 +70,7 @@ public sealed class ICspPlanner
|
||||
_maxIterations = maxIterations;
|
||||
_enforceFinalScale = enforceFinalScale;
|
||||
_finalScaleTolerance = finalScaleTolerance;
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -81,9 +86,22 @@ public sealed class ICspPlanner
|
||||
throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"ICSP 规划开始: 名称={Name}, 路点数={WaypointCount}, 自由度={Dof}, threshold={Threshold}, maxIterations={MaxIterations}",
|
||||
request.Program.Name, waypoints.Count, request.Robot.DegreesOfFreedom, _threshold, _maxIterations);
|
||||
_logger?.LogDebug(
|
||||
"ICSP 输入路点: {Waypoints}",
|
||||
string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Positions.Select(j => j.ToString("F4")))}]")));
|
||||
|
||||
var qs = WaypointsToArray(waypoints);
|
||||
var (velLimits, accLimits, jerkLimits) = ExtractLimits(request.Robot);
|
||||
|
||||
_logger?.LogDebug(
|
||||
"ICSP 约束限值: vel=[{Vel}], acc=[{Acc}], jerk=[{Jerk}]",
|
||||
string.Join(", ", velLimits.Select(v => v.ToString("F2"))),
|
||||
string.Join(", ", accLimits.Select(a => a.ToString("F2"))),
|
||||
string.Join(", ", jerkLimits.Select(j => j.ToString("F2"))));
|
||||
|
||||
// 初始段时长直接取相邻示教点的关节空间欧氏距离。
|
||||
var segmentDurations = ComputeInitialDurations(qs);
|
||||
int nseg = segmentDurations.Length;
|
||||
@@ -135,6 +153,9 @@ public sealed class ICspPlanner
|
||||
|
||||
if (currentThreshold < _threshold)
|
||||
{
|
||||
_logger?.LogDebug(
|
||||
"ICSP 第 {Iteration} 轮收敛: threshold={CurrentThreshold:E6}",
|
||||
iteration + 1, currentThreshold);
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -152,10 +173,22 @@ public sealed class ICspPlanner
|
||||
var globalScale = bestScales.Max();
|
||||
if (_enforceFinalScale && globalScale > 1.0 + _finalScaleTolerance)
|
||||
{
|
||||
_logger?.LogError(
|
||||
"ICSP 规划未收敛: global_scale={GlobalScale:F6} > {Tolerance:F6}, 段缩放=[{Scales}]",
|
||||
globalScale, 1.0 + _finalScaleTolerance,
|
||||
string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
|
||||
throw new InvalidOperationException(
|
||||
$"ICSP 规划未收敛，global_scale={globalScale:F6} > {1.0 + _finalScaleTolerance:F6}，轨迹不可执行。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"ICSP 规划完成: 名称={Name}, 迭代轮数={Iterations}, 收敛阈值={Threshold:E6}, 总时长={Duration:F4}s, global_scale={GlobalScale:F6}",
|
||||
request.Program.Name, bestIterations, bestThreshold, bestWaypointTimes[^1], globalScale);
|
||||
_logger?.LogDebug(
|
||||
"ICSP 段时长: [{Durations}], 段缩放: [{Scales}]",
|
||||
string.Join(", ", bestDurations.Select(d => d.ToString("F4"))),
|
||||
string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
|
||||
|
||||
return new PlannedTrajectory(
|
||||
robot: request.Robot,
|
||||
originalProgram: request.Program,
|
||||
|
||||
42
src/Flyshot.Core.Planning/Sampling/J519SendSample.cs
Normal file
42
src/Flyshot.Core.Planning/Sampling/J519SendSample.cs
Normal file
@@ -0,0 +1,42 @@
|
||||
namespace Flyshot.Core.Planning.Sampling;
|
||||
|
||||
/// <summary>
|
||||
/// 表示 J519 伺服链路在某一个物理发送周期上的轨迹采样结果。
|
||||
/// </summary>
|
||||
/// <param name="sampleIndex">从 0 开始的发送周期序号。</param>
|
||||
/// <param name="sendTime">J519 物理发送时间，单位为秒。</param>
|
||||
/// <param name="trajectoryTime">映射回规划轨迹的采样时间，单位为秒。</param>
|
||||
/// <param name="speedRatio">生成该采样点时使用的速度倍率。</param>
|
||||
/// <param name="jointsDegrees">J519 下发使用的角度制关节目标。</param>
|
||||
public sealed class J519SendSample(
|
||||
long sampleIndex,
|
||||
double sendTime,
|
||||
double trajectoryTime,
|
||||
double speedRatio,
|
||||
IReadOnlyList<double> jointsDegrees)
|
||||
{
|
||||
/// <summary>
|
||||
/// 获取从 0 开始的发送周期序号。
|
||||
/// </summary>
|
||||
public long SampleIndex { get; } = sampleIndex;
|
||||
|
||||
/// <summary>
|
||||
/// 获取 J519 物理发送时间，单位为秒。
|
||||
/// </summary>
|
||||
public double SendTime { get; } = sendTime;
|
||||
|
||||
/// <summary>
|
||||
/// 获取映射回规划轨迹的采样时间，单位为秒。
|
||||
/// </summary>
|
||||
public double TrajectoryTime { get; } = trajectoryTime;
|
||||
|
||||
/// <summary>
|
||||
/// 获取生成该采样点时使用的速度倍率。
|
||||
/// </summary>
|
||||
public double SpeedRatio { get; } = speedRatio;
|
||||
|
||||
/// <summary>
|
||||
/// 获取 J519 下发使用的角度制关节目标。
|
||||
/// </summary>
|
||||
public IReadOnlyList<double> JointsDegrees { get; } = jointsDegrees.ToArray();
|
||||
}
|
||||
242
src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs
Normal file
242
src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs
Normal file
@@ -0,0 +1,242 @@
|
||||
namespace Flyshot.Core.Planning.Sampling;
|
||||
|
||||
/// <summary>
|
||||
/// 负责把规划层稠密关节轨迹重采样为 J519 物理发送周期上的角度制目标。
|
||||
/// <para>
|
||||
/// 算法约定：
|
||||
/// 输入的稠密关节轨迹行格式固定为 [time, j1..jN]，time 为规划轨迹时间，关节单位为弧度；
|
||||
/// 输出的 J519 采样点按物理伺服周期排列，关节单位转换为角度制，供 UDP 60015 实时下发和离线 ActualSend 文件共用。
|
||||
/// </para>
|
||||
/// <para>
|
||||
/// 采样点数先按轨迹时间步长 trajectoryStep = servoPeriod * speedRatio 计算：
|
||||
/// sampleCount = ceil(max(0, duration / trajectoryStep - 1e-9)) + 1。
|
||||
/// 末尾额外保留一个终点钳制周期，确保轨迹时长不是周期整数倍时仍会输出最终点。
|
||||
/// </para>
|
||||
/// <para>
|
||||
/// 第 k 个采样点的物理发送时间为 sendTime = k * servoPeriod；
|
||||
/// speedRatio 不改变物理发送周期，只用于把发送时间映射回规划轨迹时间：
|
||||
/// trajectoryTime = min(sendTime * speedRatio, duration)。
|
||||
/// 之后在原始稠密关节轨迹上按 trajectoryTime 做线性插值，并把每个关节从 rad 转为 deg。
|
||||
/// </para>
|
||||
/// <para>
|
||||
/// 诊断行也在这里统一生成：Timing 行格式为 sample_index + send_time + trajectory_time + speed_ratio；
|
||||
/// Jerk 行使用相邻发送点上的角度制关节目标做后向差分，依次近似速度、加速度和跃度，格式为
|
||||
/// start_time + end_time + dt + max_abs_jerk + jerk[j1..jN]。
|
||||
/// </para>
|
||||
/// </summary>
|
||||
public static class J519SendTrajectorySampler
|
||||
{
|
||||
/// <summary>
|
||||
/// 根据 J519 伺服周期和 speed_ratio 生成完整实发采样序列。
|
||||
/// </summary>
|
||||
/// <param name="denseJointTrajectory">规划层稠密关节轨迹，每行格式为 [time, j1..jN]，关节单位为弧度。</param>
|
||||
/// <param name="durationSeconds">规划轨迹总时长，单位为秒。</param>
|
||||
/// <param name="servoPeriodSeconds">J519 物理发送周期，单位为秒。</param>
|
||||
/// <param name="speedRatio">速度倍率；只缩放轨迹采样时间，不改变物理发送周期。</param>
|
||||
/// <returns>按 J519 发送周期排列的角度制采样序列。</returns>
|
||||
public static IReadOnlyList<J519SendSample> SampleDenseJointTrajectory(
|
||||
IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
|
||||
double durationSeconds,
|
||||
double servoPeriodSeconds,
|
||||
double speedRatio)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(denseJointTrajectory);
|
||||
ValidateInputs(denseJointTrajectory, durationSeconds, servoPeriodSeconds, speedRatio);
|
||||
|
||||
var trajectoryStepSeconds = servoPeriodSeconds * speedRatio;
|
||||
var sampleCount = CalculateSampleCount(durationSeconds, trajectoryStepSeconds);
|
||||
var samples = new List<J519SendSample>((int)Math.Min(sampleCount, int.MaxValue));
|
||||
var segmentIndex = 0;
|
||||
|
||||
for (long sampleIndex = 0; sampleIndex < sampleCount; sampleIndex++)
|
||||
{
|
||||
// J519 物理周期固定，speed_ratio 只用于把发送时间映射回原始轨迹时间。
|
||||
var sendTime = sampleIndex * servoPeriodSeconds;
|
||||
var trajectoryTime = Math.Min(sendTime * speedRatio, durationSeconds);
|
||||
var joints = SampleDenseJointTrajectoryDegrees(denseJointTrajectory, trajectoryTime, ref segmentIndex);
|
||||
samples.Add(new J519SendSample(sampleIndex, sendTime, trajectoryTime, speedRatio, joints));
|
||||
}
|
||||
|
||||
return samples;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 按原始轨迹时长和 speed_ratio 后的轨迹时间步长计算 J519 实发采样数。
|
||||
/// </summary>
|
||||
/// <param name="durationSeconds">规划轨迹总时长，单位为秒。</param>
|
||||
/// <param name="trajectoryStepSeconds">每个物理发送周期对应的轨迹时间步长，单位为秒。</param>
|
||||
/// <returns>包含终点钳制周期的采样点数量。</returns>
|
||||
public static long CalculateSampleCount(double durationSeconds, double trajectoryStepSeconds)
|
||||
{
|
||||
if (durationSeconds < 0.0)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(durationSeconds), "轨迹时长不能为负数。");
|
||||
}
|
||||
|
||||
if (trajectoryStepSeconds <= 0.0 || double.IsNaN(trajectoryStepSeconds) || double.IsInfinity(trajectoryStepSeconds))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(trajectoryStepSeconds), "轨迹采样步长必须是有限正数。");
|
||||
}
|
||||
|
||||
// 非周期整数倍时多保留一个终点钳制周期，和真实 J519 下发序列保持一致。
|
||||
return (long)Math.Ceiling(Math.Max(0.0, (durationSeconds / trajectoryStepSeconds) - 1e-9)) + 1;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造实发时间映射文本行，格式为 sample_index + send_time + trajectory_time + speed_ratio。
|
||||
/// </summary>
|
||||
/// <param name="sample">待写出的 J519 实发采样点。</param>
|
||||
/// <returns>与 ActualSendTiming.txt 兼容的数值行。</returns>
|
||||
public static IReadOnlyList<double> BuildTimingRow(J519SendSample sample)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(sample);
|
||||
return
|
||||
[
|
||||
sample.SampleIndex,
|
||||
Math.Round(sample.SendTime, 6),
|
||||
Math.Round(sample.TrajectoryTime, 6),
|
||||
Math.Round(sample.SpeedRatio, 6)
|
||||
];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造相邻发送点之间的角度制跃度统计行。
|
||||
/// </summary>
|
||||
/// <param name="previousTime">上一帧发送时间，单位为秒。</param>
|
||||
/// <param name="currentTime">当前帧发送时间，单位为秒。</param>
|
||||
/// <param name="previousJoints">上一帧角度制关节目标。</param>
|
||||
/// <param name="currentJoints">当前帧角度制关节目标。</param>
|
||||
/// <param name="previousVelocity">上一帧关节速度，调用后更新为当前帧速度。</param>
|
||||
/// <param name="previousAcceleration">上一帧关节加速度，调用后更新为当前帧加速度。</param>
|
||||
/// <returns>与 ActualSendJerkStats.txt 兼容的数值行。</returns>
|
||||
public static IReadOnlyList<double> BuildJerkRow(
|
||||
double previousTime,
|
||||
double currentTime,
|
||||
IReadOnlyList<double> previousJoints,
|
||||
IReadOnlyList<double> currentJoints,
|
||||
ref double[]? previousVelocity,
|
||||
ref double[]? previousAcceleration)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(previousJoints);
|
||||
ArgumentNullException.ThrowIfNull(currentJoints);
|
||||
|
||||
var dt = currentTime - previousTime;
|
||||
if (dt <= 0.0)
|
||||
{
|
||||
dt = 1e-9;
|
||||
}
|
||||
|
||||
var jointCount = currentJoints.Count;
|
||||
var currentVelocity = new double[jointCount];
|
||||
var currentAcceleration = new double[jointCount];
|
||||
var currentJerk = new double[jointCount];
|
||||
var maxAbsJerk = 0.0;
|
||||
|
||||
for (var index = 0; index < jointCount; index++)
|
||||
{
|
||||
currentVelocity[index] = (currentJoints[index] - previousJoints[index]) / dt;
|
||||
if (previousVelocity is not null)
|
||||
{
|
||||
currentAcceleration[index] = (currentVelocity[index] - previousVelocity[index]) / dt;
|
||||
}
|
||||
|
||||
if (previousAcceleration is not null)
|
||||
{
|
||||
currentJerk[index] = (currentAcceleration[index] - previousAcceleration[index]) / dt;
|
||||
maxAbsJerk = Math.Max(maxAbsJerk, Math.Abs(currentJerk[index]));
|
||||
}
|
||||
}
|
||||
|
||||
previousVelocity = currentVelocity;
|
||||
previousAcceleration = currentAcceleration;
|
||||
|
||||
var row = new double[jointCount + 4];
|
||||
row[0] = Math.Round(previousTime, 6);
|
||||
row[1] = Math.Round(currentTime, 6);
|
||||
row[2] = Math.Round(dt, 6);
|
||||
row[3] = Math.Round(maxAbsJerk, 6);
|
||||
for (var index = 0; index < jointCount; index++)
|
||||
{
|
||||
row[index + 4] = Math.Round(currentJerk[index], 6);
|
||||
}
|
||||
|
||||
return row;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 在稠密关节轨迹上按时间线性插值，并转换成 J519 下发使用的角度制目标。
|
||||
/// </summary>
|
||||
private static double[] SampleDenseJointTrajectoryDegrees(
|
||||
IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
|
||||
double trajectoryTime,
|
||||
ref int segmentIndex)
|
||||
{
|
||||
if (denseJointTrajectory.Count == 1 || trajectoryTime <= denseJointTrajectory[0][0])
|
||||
{
|
||||
return denseJointTrajectory[0].Skip(1).Select(RadiansToDegrees).ToArray();
|
||||
}
|
||||
|
||||
var lastIndex = denseJointTrajectory.Count - 1;
|
||||
if (trajectoryTime >= denseJointTrajectory[lastIndex][0])
|
||||
{
|
||||
return denseJointTrajectory[lastIndex].Skip(1).Select(RadiansToDegrees).ToArray();
|
||||
}
|
||||
|
||||
while (segmentIndex < lastIndex - 1 && denseJointTrajectory[segmentIndex + 1][0] < trajectoryTime)
|
||||
{
|
||||
segmentIndex++;
|
||||
}
|
||||
|
||||
var start = denseJointTrajectory[segmentIndex];
|
||||
var end = denseJointTrajectory[segmentIndex + 1];
|
||||
var startTime = start[0];
|
||||
var endTime = end[0];
|
||||
var segmentDuration = endTime - startTime;
|
||||
var alpha = segmentDuration <= 0.0 ? 0.0 : (trajectoryTime - startTime) / segmentDuration;
|
||||
var joints = new double[start.Count - 1];
|
||||
for (var index = 0; index < joints.Length; index++)
|
||||
{
|
||||
joints[index] = RadiansToDegrees(start[index + 1] + ((end[index + 1] - start[index + 1]) * alpha));
|
||||
}
|
||||
|
||||
return joints;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 校验 J519 实发采样的基础输入，避免错误时间轴进入运行时链路。
|
||||
/// </summary>
|
||||
private static void ValidateInputs(
|
||||
IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
|
||||
double durationSeconds,
|
||||
double servoPeriodSeconds,
|
||||
double speedRatio)
|
||||
{
|
||||
if (denseJointTrajectory.Count == 0)
|
||||
{
|
||||
throw new InvalidOperationException("稠密关节轨迹为空。");
|
||||
}
|
||||
|
||||
if (durationSeconds < 0.0)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(durationSeconds), "轨迹时长不能为负数。");
|
||||
}
|
||||
|
||||
if (servoPeriodSeconds <= 0.0 || double.IsNaN(servoPeriodSeconds) || double.IsInfinity(servoPeriodSeconds))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(servoPeriodSeconds), "J519 伺服周期必须是有限正数。");
|
||||
}
|
||||
|
||||
if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(speedRatio), "speed_ratio 必须是有限正数。");
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 角度单位转换：rad -> deg。
|
||||
/// </summary>
|
||||
private static double RadiansToDegrees(double radians)
|
||||
{
|
||||
return radians * 180.0 / Math.PI;
|
||||
}
|
||||
}
|
||||
206
src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs
Normal file
206
src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs
Normal file
@@ -0,0 +1,206 @@
|
||||
using Flyshot.Core.Domain;
|
||||
|
||||
namespace Flyshot.Core.Planning.Sampling;
|
||||
|
||||
/// <summary>
|
||||
/// 对最终生成的关节轨迹点做速度、加速度和 Jerk 离散复核。
|
||||
/// </summary>
|
||||
public static class TrajectoryLimitValidator
|
||||
{
|
||||
/// <summary>
|
||||
/// 离散差分校验允许的默认浮点容差倍率。
|
||||
/// </summary>
|
||||
public const double DefaultLimitTolerance = 1.000001;
|
||||
|
||||
/// <summary>
|
||||
/// 校验弧度制稠密关节轨迹是否满足机器人关节限制。
|
||||
/// </summary>
|
||||
/// <param name="robot">机器人约束配置。</param>
|
||||
/// <param name="rows">稠密轨迹行，格式为 time + 关节弧度。</param>
|
||||
/// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
|
||||
/// <param name="trajectoryName">诊断用轨迹名称。</param>
|
||||
public static void ValidateDenseJointTrajectory(
|
||||
RobotProfile robot,
|
||||
IReadOnlyList<IReadOnlyList<double>> rows,
|
||||
double toleranceMultiplier = DefaultLimitTolerance,
|
||||
string? trajectoryName = null)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
ArgumentNullException.ThrowIfNull(rows);
|
||||
ValidateTolerance(toleranceMultiplier);
|
||||
ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "dense-joint-trajectory");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 校验 J519 实际发送采样点是否满足机器人关节限制。
|
||||
/// </summary>
|
||||
/// <param name="robot">机器人约束配置。</param>
|
||||
/// <param name="samples">J519 发送采样点，关节单位为角度。</param>
|
||||
/// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
|
||||
/// <param name="trajectoryName">诊断用轨迹名称。</param>
|
||||
public static void ValidateJ519SendSamples(
|
||||
RobotProfile robot,
|
||||
IReadOnlyList<J519SendSample> samples,
|
||||
double toleranceMultiplier = DefaultLimitTolerance,
|
||||
string? trajectoryName = null)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(robot);
|
||||
ArgumentNullException.ThrowIfNull(samples);
|
||||
ValidateTolerance(toleranceMultiplier);
|
||||
|
||||
var rows = new List<IReadOnlyList<double>>(samples.Count);
|
||||
foreach (var sample in samples)
|
||||
{
|
||||
var row = new double[robot.DegreesOfFreedom + 1];
|
||||
row[0] = sample.SendTime;
|
||||
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||
{
|
||||
row[index + 1] = DegreesToRadians(sample.JointsDegrees[index]);
|
||||
}
|
||||
|
||||
rows.Add(row);
|
||||
}
|
||||
|
||||
ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "j519-send-trajectory");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 校验容差倍率必须为有限正数。
|
||||
/// </summary>
|
||||
private static void ValidateTolerance(double toleranceMultiplier)
|
||||
{
|
||||
if (toleranceMultiplier <= 0.0 || double.IsNaN(toleranceMultiplier) || double.IsInfinity(toleranceMultiplier))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(toleranceMultiplier), "限值容差倍率必须是有限正数。");
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 对弧度制轨迹行执行统一的离散差分限幅校验。
|
||||
/// </summary>
|
||||
private static void ValidateRows(
|
||||
RobotProfile robot,
|
||||
IReadOnlyList<IReadOnlyList<double>> rows,
|
||||
double toleranceMultiplier,
|
||||
string trajectoryName)
|
||||
{
|
||||
double? previousTime = null;
|
||||
double[]? previousPositions = null;
|
||||
double[]? previousVelocities = null;
|
||||
double[]? previousAccelerations = null;
|
||||
|
||||
for (var rowIndex = 0; rowIndex < rows.Count; rowIndex++)
|
||||
{
|
||||
var row = rows[rowIndex];
|
||||
if (row.Count < robot.DegreesOfFreedom + 1)
|
||||
{
|
||||
throw new InvalidOperationException(
|
||||
$"轨迹 {trajectoryName} 第 {rowIndex + 1} 行关节列数量不足，期望至少 {robot.DegreesOfFreedom + 1} 列，实际 {row.Count} 列。");
|
||||
}
|
||||
|
||||
var currentTime = row[0];
|
||||
var currentPositions = new double[robot.DegreesOfFreedom];
|
||||
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||
{
|
||||
currentPositions[index] = row[index + 1];
|
||||
}
|
||||
|
||||
if (previousTime is not null && previousPositions is not null)
|
||||
{
|
||||
var dt = currentTime - previousTime.Value;
|
||||
if (dt <= 0.0)
|
||||
{
|
||||
throw new InvalidOperationException(
|
||||
$"轨迹 {trajectoryName} 时间戳必须严格递增，第 {rowIndex + 1} 行 dt={dt:F9}s。");
|
||||
}
|
||||
|
||||
var currentVelocities = new double[robot.DegreesOfFreedom];
|
||||
var currentAccelerations = new double[robot.DegreesOfFreedom];
|
||||
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||
{
|
||||
var jointLimit = robot.JointLimits[index];
|
||||
currentVelocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
|
||||
ThrowIfExceeded(
|
||||
trajectoryName,
|
||||
rowIndex,
|
||||
previousTime.Value,
|
||||
currentTime,
|
||||
jointLimit.JointName,
|
||||
"速度",
|
||||
currentVelocities[index],
|
||||
jointLimit.VelocityLimit,
|
||||
toleranceMultiplier);
|
||||
|
||||
currentAccelerations[index] = previousVelocities is null
|
||||
? 0.0
|
||||
: (currentVelocities[index] - previousVelocities[index]) / dt;
|
||||
ThrowIfExceeded(
|
||||
trajectoryName,
|
||||
rowIndex,
|
||||
previousTime.Value,
|
||||
currentTime,
|
||||
jointLimit.JointName,
|
||||
"加速度",
|
||||
currentAccelerations[index],
|
||||
jointLimit.AccelerationLimit,
|
||||
toleranceMultiplier);
|
||||
|
||||
if (previousAccelerations is not null)
|
||||
{
|
||||
var jerk = (currentAccelerations[index] - previousAccelerations[index]) / dt;
|
||||
ThrowIfExceeded(
|
||||
trajectoryName,
|
||||
rowIndex,
|
||||
previousTime.Value,
|
||||
currentTime,
|
||||
jointLimit.JointName,
|
||||
"Jerk",
|
||||
jerk,
|
||||
jointLimit.JerkLimit,
|
||||
toleranceMultiplier*4);
|
||||
}
|
||||
}
|
||||
|
||||
previousVelocities = currentVelocities;
|
||||
previousAccelerations = currentAccelerations;
|
||||
}
|
||||
|
||||
previousTime = currentTime;
|
||||
previousPositions = currentPositions;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 当某个差分指标超过限制时抛出包含关节和时间窗的诊断异常。
|
||||
/// </summary>
|
||||
private static void ThrowIfExceeded(
|
||||
string trajectoryName,
|
||||
int rowIndex,
|
||||
double previousTime,
|
||||
double currentTime,
|
||||
string jointName,
|
||||
string metricName,
|
||||
double actual,
|
||||
double limit,
|
||||
double toleranceMultiplier)
|
||||
{
|
||||
var absActual = Math.Abs(actual);
|
||||
var effectiveLimit = limit * toleranceMultiplier;
|
||||
if (absActual <= effectiveLimit)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
throw new InvalidOperationException(
|
||||
$"轨迹 {trajectoryName} 第 {rowIndex + 1} 行 {jointName} {metricName}超限: " +
|
||||
$"time={previousTime:F6}->{currentTime:F6}s, actual={actual:F6}, limit={limit:F6}, ratio={absActual / limit:F4}。");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 角度单位转换：deg -> rad。
|
||||
/// </summary>
|
||||
private static double DegreesToRadians(double degrees)
|
||||
{
|
||||
return degrees * Math.PI / 180.0;
|
||||
}
|
||||
}
|
||||
@@ -19,7 +19,8 @@ public static class TrajectorySampler
|
||||
public static IReadOnlyList<IReadOnlyList<double>> SampleJointTrajectory(
|
||||
PlannedTrajectory trajectory,
|
||||
double samplePeriod = 0.016,
|
||||
int decimals = 6)
|
||||
int decimals = 6,
|
||||
bool smoothStartStop = false)
|
||||
{
|
||||
var spline = RebuildSpline(trajectory);
|
||||
double duration = trajectory.WaypointTimes[^1];
|
||||
@@ -28,7 +29,10 @@ public static class TrajectorySampler
|
||||
|
||||
foreach (var t in times)
|
||||
{
|
||||
var pos = spline.Evaluate(t);
|
||||
var evaluationTime = smoothStartStop
|
||||
? MapSmoothStartStopEvaluationTime(t, duration)
|
||||
: t;
|
||||
var pos = spline.Evaluate(evaluationTime);
|
||||
var row = new List<double>(pos.Length + 1);
|
||||
row.Add(Math.Round(t, decimals));
|
||||
foreach (var value in pos)
|
||||
@@ -49,7 +53,8 @@ public static class TrajectorySampler
|
||||
PlannedTrajectory trajectory,
|
||||
RobotKinematicsModel kinematicsModel,
|
||||
double samplePeriod = 0.016,
|
||||
int decimals = 6)
|
||||
int decimals = 6,
|
||||
bool smoothStartStop = false)
|
||||
{
|
||||
var spline = RebuildSpline(trajectory);
|
||||
double duration = trajectory.WaypointTimes[^1];
|
||||
@@ -58,7 +63,10 @@ public static class TrajectorySampler
|
||||
|
||||
foreach (var t in times)
|
||||
{
|
||||
var jointPos = spline.Evaluate(t);
|
||||
var evaluationTime = smoothStartStop
|
||||
? MapSmoothStartStopEvaluationTime(t, duration)
|
||||
: t;
|
||||
var jointPos = spline.Evaluate(evaluationTime);
|
||||
var pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPos);
|
||||
var row = new List<double>(pose.Length + 1);
|
||||
row.Add(Math.Round(t, decimals));
|
||||
@@ -103,4 +111,26 @@ public static class TrajectorySampler
|
||||
|
||||
return times;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 把线性采样时间映射为整段平滑起停的评估时间。
|
||||
/// 使用 7 次 smootherstep 时间律，让起点和终点的一到三阶导都自然收敛到 0。
|
||||
/// </summary>
|
||||
private static double MapSmoothStartStopEvaluationTime(double sampleTime, double duration)
|
||||
{
|
||||
if (duration <= 0.0)
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
var normalizedTime = Math.Clamp(sampleTime / duration, 0.0, 1.0);
|
||||
var u2 = normalizedTime * normalizedTime;
|
||||
var u3 = u2 * normalizedTime;
|
||||
var u4 = u3 * normalizedTime;
|
||||
var u5 = u4 * normalizedTime;
|
||||
var u6 = u5 * normalizedTime;
|
||||
var u7 = u6 * normalizedTime;
|
||||
var progress = (35.0 * u4) - (84.0 * u5) + (70.0 * u6) - (20.0 * u7);
|
||||
return duration * progress;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
using Flyshot.Core.Domain;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Core.Planning;
|
||||
|
||||
@@ -8,7 +9,7 @@ namespace Flyshot.Core.Planning;
|
||||
/// 为什么需要这层？
|
||||
/// ---
|
||||
/// 逆向分析已经指出：原系统里普通 icsp 若仍有段 scale > 1，不会直接返回未收敛结果；
|
||||
/// 配置中还明确存在 adapt_icsp_try_num。本层把“超限段统一插入中点后再重规划”的逻辑显式落地，
|
||||
/// 配置中还明确存在 adapt_icsp_try_num。本层把"超限段统一插入中点后再重规划"的逻辑显式落地，
|
||||
/// 补上 demo 缺失的失败恢复路径。
|
||||
///
|
||||
/// 补点策略：
|
||||
@@ -24,7 +25,18 @@ public sealed class SelfAdaptIcspPlanner
|
||||
/// </summary>
|
||||
public const double ScaleTolerance = 5e-4;
|
||||
|
||||
private readonly ICspPlanner _innerPlanner = new(enforceFinalScale: false);
|
||||
private readonly ICspPlanner _innerPlanner;
|
||||
private readonly ILogger<SelfAdaptIcspPlanner>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 SelfAdaptIcspPlanner。
|
||||
/// </summary>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public SelfAdaptIcspPlanner(ILogger<SelfAdaptIcspPlanner>? logger = null)
|
||||
{
|
||||
_innerPlanner = new ICspPlanner(enforceFinalScale: false, logger: null);
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 执行自适应 ICSP 规划，允许在超限段插入中点后重试。
|
||||
@@ -48,6 +60,10 @@ public sealed class SelfAdaptIcspPlanner
|
||||
throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"SelfAdaptICSP 规划开始: 名称={Name}, 原始路点数={WaypointCount}, 最大补点次数={MaxAttempts}",
|
||||
request.Program.Name, originalWaypointCount, adaptIcspTryNum);
|
||||
|
||||
var currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
|
||||
var currentRequest = new TrajectoryRequest(
|
||||
robot: request.Robot,
|
||||
@@ -76,6 +92,9 @@ public sealed class SelfAdaptIcspPlanner
|
||||
|
||||
if (badSegments.Count == 0)
|
||||
{
|
||||
_logger?.LogInformation(
|
||||
"SelfAdaptICSP 规划完成: 名称={Name}, 补点轮数={Attempts}, 最终路点数={WaypointCount}, 迭代次数={Iterations}, 总时长={Duration:F4}s",
|
||||
request.Program.Name, attempt, currentWaypoints.Length, trajectory.Iterations, trajectory.WaypointTimes[^1]);
|
||||
// 所有段都满足约束，收敛成功。返回包含补中点后路点的轨迹。
|
||||
return new PlannedTrajectory(
|
||||
robot: trajectory.Robot,
|
||||
@@ -89,15 +108,24 @@ public sealed class SelfAdaptIcspPlanner
|
||||
threshold: trajectory.Threshold);
|
||||
}
|
||||
|
||||
_logger?.LogWarning(
|
||||
"SelfAdaptICSP 第 {Attempt} 轮存在超限段: 超限段数={BadCount}, 段索引=[{Segments}], 最大缩放={MaxScale:F4}",
|
||||
attempt, badSegments.Count, string.Join(", ", badSegments), trajectory.SegmentScales.Max());
|
||||
|
||||
if (attempt >= maxAttempts)
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
// 对超限段插入中点，并同步扩展 shot 元数据。
|
||||
int waypointCountBefore = currentWaypoints.Length;
|
||||
(currentWaypoints, currentShotFlags, currentOffsets, currentAddrs) =
|
||||
InsertSegmentMidpoints(currentWaypoints, currentShotFlags, currentOffsets, currentAddrs, badSegments);
|
||||
|
||||
_logger?.LogDebug(
|
||||
"SelfAdaptICSP 补中点: 路点数 {Before} -> {After}, 插入段=[{Segments}]",
|
||||
waypointCountBefore, currentWaypoints.Length, string.Join(", ", badSegments));
|
||||
|
||||
currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
|
||||
currentRequest = new TrajectoryRequest(
|
||||
robot: request.Robot,
|
||||
@@ -109,6 +137,9 @@ public sealed class SelfAdaptIcspPlanner
|
||||
}
|
||||
|
||||
double maxScale = lastTrajectory?.SegmentScales.Max() ?? double.NaN;
|
||||
_logger?.LogError(
|
||||
"SelfAdaptICSP 规划失败: 名称={Name}, 在 {Attempts} 轮补点后仍未收敛, 最大段缩放因子={MaxScale:F6}",
|
||||
request.Program.Name, adaptIcspTryNum, maxScale);
|
||||
throw new InvalidOperationException(
|
||||
$"self-adapt ICSP 在 {adaptIcspTryNum} 轮补点后仍未收敛，最大段缩放因子={maxScale:F6}。");
|
||||
}
|
||||
|
||||
@@ -9,6 +9,7 @@
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
|
||||
<ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
|
||||
<PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
using Flyshot.Core.Domain;
|
||||
using Flyshot.Core.Planning;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Core.Triggering;
|
||||
|
||||
@@ -10,13 +11,17 @@ namespace Flyshot.Core.Triggering;
|
||||
public sealed class ShotTimelineBuilder
|
||||
{
|
||||
private readonly WaypointTimestampResolver _resolver;
|
||||
private readonly ILogger<ShotTimelineBuilder>? _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 ShotTimelineBuilder，依赖一个时间戳解析器来对齐补中点后的轨迹与原始示教点。
|
||||
/// </summary>
|
||||
public ShotTimelineBuilder(WaypointTimestampResolver resolver)
|
||||
/// <param name="resolver">时间戳解析器。</param>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public ShotTimelineBuilder(WaypointTimestampResolver resolver, ILogger<ShotTimelineBuilder>? logger = null)
|
||||
{
|
||||
_resolver = resolver ?? throw new ArgumentNullException(nameof(resolver));
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -82,6 +87,13 @@ public sealed class ShotTimelineBuilder
|
||||
}
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"ShotTimeline 构建完成: shotFlags总数={ShotFlagCount}, 触发事件数={TriggerCount}, useDo={UseDo}, holdCycles={HoldCycles}",
|
||||
program.ShotFlags.Count(static f => f),
|
||||
triggerTimeline.Count,
|
||||
useDo,
|
||||
holdCycles);
|
||||
|
||||
return new ShotTimeline(shotEvents, triggerTimeline);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,7 +1,11 @@
|
||||
using System.Diagnostics;
|
||||
using System.Text;
|
||||
using Flyshot.Core.Domain;
|
||||
using Flyshot.Core.Planning.Sampling;
|
||||
using Flyshot.Runtime.Common;
|
||||
using Flyshot.Runtime.Fanuc.Protocol;
|
||||
using Microsoft.Extensions.Logging;
|
||||
using Microsoft.Extensions.Logging.Abstractions;
|
||||
|
||||
namespace Flyshot.Runtime.Fanuc;
|
||||
|
||||
@@ -16,6 +20,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
private readonly FanucCommandClient _commandClient;
|
||||
private readonly FanucStateClient _stateClient;
|
||||
private readonly FanucJ519Client _j519Client;
|
||||
private readonly ILogger<FanucControllerRuntime>? _logger;
|
||||
|
||||
private RobotProfile? _robot;
|
||||
private string? _robotName;
|
||||
@@ -30,26 +35,40 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];
|
||||
private bool _disposed;
|
||||
private CancellationTokenSource? _sendCts;
|
||||
private Task? _sendTask;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 FANUC 控制器运行时。
|
||||
/// </summary>
|
||||
public FanucControllerRuntime()
|
||||
/// <param name="logger">运行时日志记录器。</param>
|
||||
/// <param name="j519Logger">J519 客户端日志记录器。</param>
|
||||
public FanucControllerRuntime(ILogger<FanucControllerRuntime> logger, ILogger<FanucJ519Client> j519Logger)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(logger);
|
||||
ArgumentNullException.ThrowIfNull(j519Logger);
|
||||
|
||||
_commandClient = new FanucCommandClient();
|
||||
_stateClient = new FanucStateClient();
|
||||
_j519Client = new FanucJ519Client();
|
||||
_j519Client = new FanucJ519Client(j519Logger);
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 初始化一份无日志的 FANUC 控制器运行时，供离线测试或手工构造场景使用。
|
||||
/// </summary>
|
||||
public FanucControllerRuntime()
|
||||
: this(NullLogger<FanucControllerRuntime>.Instance, NullLogger<FanucJ519Client>.Instance)
|
||||
{
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 供测试注入 mock 客户端的内部构造函数。
|
||||
/// </summary>
|
||||
internal FanucControllerRuntime(FanucCommandClient commandClient, FanucStateClient stateClient, FanucJ519Client j519Client)
|
||||
internal FanucControllerRuntime(FanucCommandClient commandClient, FanucStateClient stateClient, FanucJ519Client j519Client, ILogger<FanucControllerRuntime>? logger = null)
|
||||
{
|
||||
_commandClient = commandClient;
|
||||
_stateClient = stateClient;
|
||||
_j519Client = j519Client;
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -61,6 +80,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
throw new ArgumentException("机器人名称不能为空。", nameof(robotName));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("ResetRobot: robotName={RobotName}, dof={Dof}", robotName, robot.DegreesOfFreedom);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
DisconnectClients();
|
||||
@@ -82,6 +103,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
/// <inheritdoc />
|
||||
public void SetActiveController(bool sim)
|
||||
{
|
||||
_logger?.LogInformation("SetActiveController: sim={Sim}", sim);
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
@@ -101,6 +123,8 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
throw new ArgumentException("控制器 IP 不能为空。", nameof(robotIp));
|
||||
}
|
||||
|
||||
_logger?.LogInformation("Connect 开始: robotIp={RobotIp}, 仿真={IsSim}", robotIp, _activeControllerIsSimulation);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureActiveControllerSelected();
|
||||
@@ -109,6 +133,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
_connectedRobotIp = robotIp;
|
||||
_isEnabled = false;
|
||||
_isInMotion = false;
|
||||
_logger?.LogInformation("Connect 完成(仿真): robotIp={RobotIp}", robotIp);
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -121,11 +146,14 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
_isEnabled = false;
|
||||
_isInMotion = false;
|
||||
}
|
||||
|
||||
_logger?.LogInformation("Connect 完成(真机): robotIp={RobotIp}, 三条通道已建立", robotIp);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public void Disconnect()
|
||||
{
|
||||
_logger?.LogInformation("Disconnect 开始");
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
@@ -135,6 +163,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
_isEnabled = false;
|
||||
_isInMotion = false;
|
||||
}
|
||||
_logger?.LogInformation("Disconnect 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -145,31 +174,38 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
throw new ArgumentOutOfRangeException(nameof(bufferSize), "buffer_size 必须大于 0。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("EnableRobot 开始: bufferSize={BufferSize}, 仿真={IsSim}", bufferSize, _activeControllerIsSimulation);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureConnected();
|
||||
_bufferSize = bufferSize;
|
||||
_j519Client.SetSequenceBufferSize(bufferSize);
|
||||
|
||||
if (IsSimulationMode)
|
||||
{
|
||||
_isEnabled = true;
|
||||
_logger?.LogInformation("EnableRobot 完成(仿真)");
|
||||
return;
|
||||
}
|
||||
|
||||
// 真机模式：走完整 RVBUSTSM 启动序列（与抓包一致）。
|
||||
_commandClient.StopProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||
// 真机模式：按 all-reconnect.pcap 的重连序列启动 RVBUSTSM，暂不发送 StopProg。
|
||||
_commandClient.StopProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||
_commandClient.ResetRobotAsync().GetAwaiter().GetResult();
|
||||
_commandClient.GetProgramStatusAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||
//_commandClient.GetProgramStatusAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||
_commandClient.StartProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||
|
||||
_j519Client.StartMotion();
|
||||
_isEnabled = true;
|
||||
}
|
||||
|
||||
_logger?.LogInformation("EnableRobot 完成(真机): RVBUSTSM 已启动, J519 运动循环已开启");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public void DisableRobot()
|
||||
{
|
||||
_logger?.LogInformation("DisableRobot 开始");
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
@@ -183,11 +219,13 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
_isEnabled = false;
|
||||
_isInMotion = false;
|
||||
}
|
||||
_logger?.LogInformation("DisableRobot 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public void StopMove()
|
||||
{
|
||||
_logger?.LogInformation("StopMove 开始");
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureRobotSetup();
|
||||
@@ -199,6 +237,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
|
||||
_isInMotion = false;
|
||||
}
|
||||
_logger?.LogInformation("StopMove 完成");
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -225,17 +264,21 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
throw new ArgumentOutOfRangeException(nameof(ratio), "ratio 必须是有限数值。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("SetSpeedRatio: ratio={Ratio}", ratio);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
EnsureConnected();
|
||||
//EnsureConnected();
|
||||
var clampedRatio = Math.Clamp(ratio, 0.0, 1.0);
|
||||
if (!IsSimulationMode)
|
||||
{
|
||||
_commandClient.SetSpeedRatioAsync(clampedRatio).GetAwaiter().GetResult();
|
||||
//_commandClient.SetSpeedRatioAsync(clampedRatio).GetAwaiter().GetResult();
|
||||
}
|
||||
|
||||
_speedRatio = clampedRatio;
|
||||
}
|
||||
|
||||
_logger?.LogInformation("SetSpeedRatio 完成: clampedRatio={ClampedRatio}", _speedRatio);
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
@@ -325,9 +368,9 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
if (!IsSimulationMode)
|
||||
{
|
||||
var frame = GetFreshStateFrame();
|
||||
if (frame?.JointDegrees.Count >= _jointPositions.Length)
|
||||
if (frame?.JointRadians.Count >= _jointPositions.Length)
|
||||
{
|
||||
return frame.JointDegrees.Take(_jointPositions.Length).Select(v => (double)v).ToArray();
|
||||
return frame.JointRadians.Take(_jointPositions.Length).Select(v => (double)v).ToArray();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -363,15 +406,21 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
var cartesianPose = _pose;
|
||||
var isInMotion = _isInMotion;
|
||||
IReadOnlyList<uint> stateTailWords = Array.Empty<uint>();
|
||||
byte? j519Status = null;
|
||||
uint? j519Sequence = null;
|
||||
bool? j519AcceptsCommand = null;
|
||||
bool? j519ReceivedCommand = null;
|
||||
bool? j519SystemReady = null;
|
||||
bool? j519RobotInMotion = null;
|
||||
|
||||
if (!IsSimulationMode)
|
||||
{
|
||||
var frame = GetFreshStateFrame();
|
||||
if (frame is not null)
|
||||
{
|
||||
if (frame.JointDegrees.Count >= jointPositions.Length)
|
||||
if (frame.JointRadians.Count >= jointPositions.Length)
|
||||
{
|
||||
jointPositions = frame.JointDegrees.Take(jointPositions.Length).Select(v => (double)v).ToArray();
|
||||
jointPositions = frame.JointRadians.Take(jointPositions.Length).Select(v => (double)v).ToArray();
|
||||
}
|
||||
|
||||
if (frame.CartesianPose.Count >= 6)
|
||||
@@ -386,6 +435,12 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
if (j519Response is not null)
|
||||
{
|
||||
isInMotion = j519Response.RobotInMotion;
|
||||
j519Status = j519Response.Status;
|
||||
j519Sequence = j519Response.Sequence;
|
||||
j519AcceptsCommand = j519Response.AcceptsCommand;
|
||||
j519ReceivedCommand = j519Response.ReceivedCommand;
|
||||
j519SystemReady = j519Response.SystemReady;
|
||||
j519RobotInMotion = j519Response.RobotInMotion;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -398,7 +453,13 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
jointPositions: jointPositions,
|
||||
cartesianPose: cartesianPose,
|
||||
activeAlarms: Array.Empty<RuntimeAlarm>(),
|
||||
stateTailWords: stateTailWords);
|
||||
stateTailWords: stateTailWords,
|
||||
j519Status: j519Status,
|
||||
j519Sequence: j519Sequence,
|
||||
j519AcceptsCommand: j519AcceptsCommand,
|
||||
j519ReceivedCommand: j519ReceivedCommand,
|
||||
j519SystemReady: j519SystemReady,
|
||||
j519RobotInMotion: j519RobotInMotion);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -407,6 +468,14 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(result);
|
||||
ArgumentNullException.ThrowIfNull(finalJointPositions);
|
||||
CancellationToken denseSendCancellationToken = default;
|
||||
CancellationTokenSource? denseSendCancellationSource = null;
|
||||
var shouldRunDenseTrajectory = false;
|
||||
|
||||
_logger?.LogInformation(
|
||||
"ExecuteTrajectory 开始: program={ProgramName}, method={Method}, 时长={Duration}s, 稠密采样={HasDense}, 触发事件数={TriggerCount}, speedRatio={SpeedRatio}",
|
||||
result.ProgramName, result.Method, result.Duration.TotalSeconds,
|
||||
result.DenseJointTrajectory is not null, result.TriggerTimeline.Count, _speedRatio);
|
||||
|
||||
lock (_stateLock)
|
||||
{
|
||||
@@ -417,26 +486,59 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
|
||||
if (!IsSimulationMode && result.DenseJointTrajectory is not null)
|
||||
{
|
||||
// 真机模式且存在稠密路点：启动后台高精度发送任务。
|
||||
if (_speedRatio <= 0.0)
|
||||
{
|
||||
throw new InvalidOperationException("Speed ratio must be greater than zero for dense J519 execution.");
|
||||
}
|
||||
|
||||
EnsureJ519ReadyForDenseExecution();
|
||||
|
||||
// 真机模式且存在稠密路点：准备可被 StopMove 取消的同步发送任务。
|
||||
_isInMotion = true;
|
||||
_sendCts = new CancellationTokenSource();
|
||||
var ct = _sendCts.Token;
|
||||
_sendTask = Task.Run(() => SendDenseTrajectory(result, finalJointPositions, ct), ct);
|
||||
return;
|
||||
}
|
||||
denseSendCancellationSource = _sendCts;
|
||||
denseSendCancellationToken = _sendCts.Token;
|
||||
shouldRunDenseTrajectory = true;
|
||||
|
||||
if (!IsSimulationMode)
|
||||
_logger?.LogInformation("ExecuteTrajectory 开始同步稠密发送任务");
|
||||
}
|
||||
else
|
||||
{
|
||||
// 真机模式无稠密路点：回退到单点收敛。
|
||||
var command = new FanucJ519Command(
|
||||
sequence: 0,
|
||||
targetJoints: finalJointPositions.Select(j => (double)j).ToArray());
|
||||
_j519Client.UpdateCommand(command);
|
||||
}
|
||||
if (!IsSimulationMode)
|
||||
{
|
||||
// 真机模式无稠密路点：回退到单点收敛。
|
||||
var command = new FanucJ519Command(
|
||||
sequence: 0,
|
||||
targetJoints: finalJointPositions.Select(j => (double)j).ToArray());
|
||||
_j519Client.UpdateCommand(command);
|
||||
}
|
||||
|
||||
_isInMotion = true;
|
||||
_jointPositions = finalJointPositions.ToArray();
|
||||
_isInMotion = false;
|
||||
_isInMotion = true;
|
||||
_jointPositions = finalJointPositions.ToArray();
|
||||
_isInMotion = false;
|
||||
_logger?.LogInformation("ExecuteTrajectory 完成(单点模式)");
|
||||
}
|
||||
}
|
||||
|
||||
if (shouldRunDenseTrajectory)
|
||||
{
|
||||
try
|
||||
{
|
||||
// 稠密轨迹必须等 J519 队列被机器人状态包实际取完后再向上层返回。
|
||||
SendDenseTrajectory(result, finalJointPositions, denseSendCancellationToken);
|
||||
_logger?.LogInformation("ExecuteTrajectory 完成(稠密模式)");
|
||||
}
|
||||
finally
|
||||
{
|
||||
lock (_stateLock)
|
||||
{
|
||||
if (ReferenceEquals(_sendCts, denseSendCancellationSource))
|
||||
{
|
||||
denseSendCancellationSource?.Dispose();
|
||||
_sendCts = null;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -459,33 +561,55 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 后台高精度发送任务：按伺服周期遍历稠密路点并注入 IO 触发。
|
||||
/// 稠密轨迹发送任务：预生成完整 J519 命令队列，并等待机器人状态包按 speed_ratio 推进到执行完成。
|
||||
/// </summary>
|
||||
private void SendDenseTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions, CancellationToken cancellationToken)
|
||||
{
|
||||
var denseTrajectory = result.DenseJointTrajectory!;
|
||||
var triggers = result.TriggerTimeline;
|
||||
var servoPeriodSeconds = _robot!.ServoPeriod.TotalSeconds;
|
||||
var halfServoPeriod = servoPeriodSeconds / 2.0;
|
||||
var periodTicks = (long)(servoPeriodSeconds * Stopwatch.Frequency);
|
||||
var speedRatio = _speedRatio;
|
||||
var trajectoryStepSeconds = servoPeriodSeconds * speedRatio;
|
||||
var triggerToleranceSeconds = trajectoryStepSeconds / 2.0;
|
||||
var durationSeconds = result.Duration.TotalSeconds;
|
||||
var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||
result.DenseJointTrajectory!,
|
||||
durationSeconds,
|
||||
servoPeriodSeconds,
|
||||
speedRatio);
|
||||
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||
_robot!,
|
||||
samples,
|
||||
trajectoryName: result.ProgramName);
|
||||
var sampleCount = samples.Count;
|
||||
|
||||
_logger?.LogInformation(
|
||||
"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 stopwatch = Stopwatch.StartNew();
|
||||
long nextTick = stopwatch.ElapsedTicks;
|
||||
uint sequence = 0;
|
||||
ushort ioValue = 0;
|
||||
ushort ioMask = 0;
|
||||
int holdRemaining = -1;
|
||||
long logInterval = Math.Max(1, sampleCount / 10);
|
||||
int triggerFiredCount = 0;
|
||||
var commands = new List<FanucJ519Command>(sampleCount);
|
||||
var sentJointRows = new List<IReadOnlyList<double>>(sampleCount);
|
||||
var sentTimingRows = new List<IReadOnlyList<double>>(sampleCount);
|
||||
var sentJerkRows = new List<IReadOnlyList<double>>();
|
||||
var outputDir = CreateDenseSendOutputDirectory(result.ProgramName);
|
||||
double? previousSendTime = null;
|
||||
double[]? previousJoints = null;
|
||||
double[]? previousVelocity = null;
|
||||
double[]? previousAcceleration = null;
|
||||
|
||||
try
|
||||
{
|
||||
foreach (var row in denseTrajectory)
|
||||
foreach (var sample in samples)
|
||||
{
|
||||
cancellationToken.ThrowIfCancellationRequested();
|
||||
nextTick += periodTicks;
|
||||
|
||||
double t = row[0];
|
||||
var joints = row.Skip(1).Select(static v => (double)v).ToArray();
|
||||
|
||||
// 递减 IO 保持计数器；若已到期则清零。
|
||||
var clearMaskAfterSend = false;
|
||||
if (holdRemaining > 0)
|
||||
{
|
||||
holdRemaining--;
|
||||
@@ -494,41 +618,89 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
{
|
||||
ioValue = 0;
|
||||
holdRemaining = -1;
|
||||
clearMaskAfterSend = true;
|
||||
}
|
||||
|
||||
// 检查当前周期是否有新的触发事件。
|
||||
if (holdRemaining < 0)
|
||||
if (holdRemaining < 0 && !clearMaskAfterSend)
|
||||
{
|
||||
foreach (var trigger in triggers)
|
||||
{
|
||||
if (Math.Abs(t - trigger.TriggerTime) < halfServoPeriod)
|
||||
if (Math.Abs(sample.TrajectoryTime - trigger.TriggerTime) <= triggerToleranceSeconds)
|
||||
{
|
||||
ioValue = ComputeIoValue(trigger.AddressGroup);
|
||||
holdRemaining = trigger.HoldCycles;
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
var command = new FanucJ519Command(
|
||||
sequence: sequence++,
|
||||
targetJoints: joints,
|
||||
sequence: 0,
|
||||
targetJoints: sample.JointsDegrees,
|
||||
writeIoType: 2,
|
||||
writeIoIndex: 1,
|
||||
writeIoMask: 255,
|
||||
writeIoMask: ioMask,
|
||||
writeIoValue: ioValue);
|
||||
|
||||
_j519Client.UpdateCommand(command);
|
||||
commands.Add(command);
|
||||
sentJointRows.Add(BuildDenseSendJointRow(sample.SendTime, sample.JointsDegrees, ioMask, ioValue));
|
||||
sentTimingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample));
|
||||
|
||||
// 高精度忙等待直到下一伺服周期。
|
||||
while (stopwatch.ElapsedTicks < nextTick)
|
||||
if (previousSendTime is not null && previousJoints is not null)
|
||||
{
|
||||
Thread.SpinWait(1);
|
||||
var jerkRow = J519SendTrajectorySampler.BuildJerkRow(
|
||||
previousSendTime.Value,
|
||||
sample.SendTime,
|
||||
previousJoints,
|
||||
sample.JointsDegrees,
|
||||
ref previousVelocity,
|
||||
ref previousAcceleration);
|
||||
sentJerkRows.Add(jerkRow);
|
||||
}
|
||||
|
||||
if (clearMaskAfterSend)
|
||||
{
|
||||
ioMask = 0;
|
||||
}
|
||||
|
||||
previousSendTime = sample.SendTime;
|
||||
previousJoints = sample.JointsDegrees.ToArray();
|
||||
|
||||
// 周期性记录进度（Debug 级别，避免高频 Info 日志）。
|
||||
if (sample.SampleIndex > 0 && sample.SampleIndex % logInterval == 0)
|
||||
{
|
||||
_logger?.LogDebug(
|
||||
"SendDenseTrajectory 进度: {Percent}% ({Current}/{Total}), sendTime={SendTime:F4}s, trajectoryTime={TrajectoryTime:F4}s",
|
||||
(int)((double)sample.SampleIndex / sampleCount * 100),
|
||||
sample.SampleIndex,
|
||||
sampleCount,
|
||||
sample.SendTime,
|
||||
sample.TrajectoryTime);
|
||||
}
|
||||
}
|
||||
TryWriteDenseSendArtifacts(outputDir, sentJointRows, sentTimingRows, sentJerkRows);
|
||||
|
||||
// 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);
|
||||
if (_j519Client.IsConnected)
|
||||
{
|
||||
_j519Client.WaitForCommandQueueDrainedAsync(cancellationToken).GetAwaiter().GetResult();
|
||||
}
|
||||
_logger?.LogInformation(
|
||||
"SendDenseTrajectory 正常完成: 采样数={SampleCount}, 触发次数={TriggerFiredCount}, 队列装载耗时={ElapsedMs}ms",
|
||||
sampleCount, triggerFiredCount, stopwatch.ElapsedMilliseconds);
|
||||
}
|
||||
catch (OperationCanceledException)
|
||||
{
|
||||
_logger?.LogWarning(
|
||||
"SendDenseTrajectory 被取消: 已生成 {Current}/{Total} 条命令, 触发次数={TriggerFiredCount}",
|
||||
commands.Count, sampleCount, triggerFiredCount);
|
||||
// 正常取消，轨迹被中断。
|
||||
}
|
||||
finally
|
||||
@@ -542,26 +714,174 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 取消并等待当前后台发送任务，避免旧任务与新轨迹并发。
|
||||
/// 若已有 J519 响应，则在启动稠密轨迹前检查伺服侧是否接受命令并处于系统就绪状态。
|
||||
/// </summary>
|
||||
private void EnsureJ519ReadyForDenseExecution()
|
||||
{
|
||||
EnsureJ519ReadyForDenseExecutionCore(
|
||||
() => _j519Client.GetLatestResponse(),
|
||||
() =>
|
||||
{
|
||||
// 若当前状态未就绪，则先尝试一次 EnableRobot 走现场既有恢复链路。
|
||||
EnableRobot(_bufferSize);
|
||||
},
|
||||
static () => Thread.Sleep(TimeSpan.FromMilliseconds(500)));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 执行稠密发送前的 J519 就绪校验；未就绪时允许先做一次启机重试。
|
||||
/// </summary>
|
||||
/// <param name="getLatestResponse">读取最新 J519 状态的委托。</param>
|
||||
/// <param name="retryEnableRobot">状态未就绪时触发一次 EnableRobot 重试的委托。</param>
|
||||
/// <param name="waitAfterRetry">重试后等待状态刷新的委托。</param>
|
||||
internal static void EnsureJ519ReadyForDenseExecutionCore(
|
||||
Func<FanucJ519Response?> getLatestResponse,
|
||||
Action retryEnableRobot,
|
||||
Action waitAfterRetry)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(getLatestResponse);
|
||||
ArgumentNullException.ThrowIfNull(retryEnableRobot);
|
||||
ArgumentNullException.ThrowIfNull(waitAfterRetry);
|
||||
|
||||
var response = getLatestResponse();
|
||||
if (response is null || IsJ519ReadyForDenseExecution(response))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
retryEnableRobot();
|
||||
waitAfterRetry();
|
||||
|
||||
response = getLatestResponse();
|
||||
if (response is null || IsJ519ReadyForDenseExecution(response))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
throw new InvalidOperationException(BuildJ519DenseExecutionNotReadyMessage(response));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 判断当前 J519 响应是否已经满足稠密执行前置条件。
|
||||
/// </summary>
|
||||
/// <param name="response">待检查的 J519 状态响应。</param>
|
||||
/// <returns>接受命令且系统就绪时返回 true，否则返回 false。</returns>
|
||||
internal static bool IsJ519ReadyForDenseExecution(FanucJ519Response response)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(response);
|
||||
return response is { AcceptsCommand: true, SystemReady: true };
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 组装 J519 未就绪时的异常消息，便于保留现场关键状态位。
|
||||
/// </summary>
|
||||
/// <param name="response">最近一次收到的 J519 状态响应。</param>
|
||||
/// <returns>包含状态位和序号的诊断消息。</returns>
|
||||
internal static string BuildJ519DenseExecutionNotReadyMessage(FanucJ519Response response)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(response);
|
||||
return "J519 status is not ready for dense execution: "
|
||||
+ $"accept_cmd={response.AcceptsCommand}, "
|
||||
+ $"received_cmd={response.ReceivedCommand}, "
|
||||
+ $"sysrdy={response.SystemReady}, "
|
||||
+ $"rbt_inmotion={response.RobotInMotion}, "
|
||||
+ $"seq={response.Sequence}, "
|
||||
+ $"status=0x{response.Status:X2}.";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 为单次稠密发送创建按日期时间归档的输出目录。
|
||||
/// </summary>
|
||||
private static string CreateDenseSendOutputDirectory(string programName)
|
||||
{
|
||||
var safeProgramName = SanitizeDirectoryName(string.IsNullOrWhiteSpace(programName) ? "unnamed-program" : programName);
|
||||
var timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss_fff");
|
||||
var outputDir = Path.Combine(
|
||||
AppContext.BaseDirectory,
|
||||
"Config",
|
||||
"Data",
|
||||
safeProgramName,
|
||||
"DenseSend",
|
||||
timestamp);
|
||||
Directory.CreateDirectory(outputDir);
|
||||
return outputDir;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造实际发送点位文本行，格式为 send_time + 关节角度 + io_mask + io_value。
|
||||
/// </summary>
|
||||
private static IReadOnlyList<double> BuildDenseSendJointRow(double sendTime, IReadOnlyList<double> joints, ushort ioMask, ushort ioValue)
|
||||
{
|
||||
var row = new double[joints.Count + 3];
|
||||
row[0] = Math.Round(sendTime, 6);
|
||||
for (var index = 0; index < joints.Count; index++)
|
||||
{
|
||||
row[index + 1] = Math.Round(joints[index], 6);
|
||||
}
|
||||
|
||||
row[^2] = ioMask;
|
||||
row[^1] = ioValue;
|
||||
return row;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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。
|
||||
/// </summary>
|
||||
private void TryWriteDenseSendArtifacts(
|
||||
string outputDir,
|
||||
IReadOnlyList<IReadOnlyList<double>> sentJointRows,
|
||||
IReadOnlyList<IReadOnlyList<double>> sentTimingRows,
|
||||
IReadOnlyList<IReadOnlyList<double>> sentJerkRows)
|
||||
{
|
||||
try
|
||||
{
|
||||
WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), sentJointRows);
|
||||
WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), sentTimingRows);
|
||||
WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), sentJerkRows);
|
||||
_logger?.LogInformation(
|
||||
"SendDenseTrajectory 已写出实际发送记录: outputDir={OutputDir}, pointRows={PointRows}, timingRows={TimingRows}, jerkRows={JerkRows}",
|
||||
outputDir,
|
||||
sentJointRows.Count,
|
||||
sentTimingRows.Count,
|
||||
sentJerkRows.Count);
|
||||
}
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger?.LogWarning(exception, "SendDenseTrajectory 写出实际发送记录失败: outputDir={OutputDir}", outputDir);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 以旧轨迹文本兼容的空格分隔格式写出数值行。
|
||||
/// </summary>
|
||||
private static void WriteDenseRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
|
||||
{
|
||||
var sb = new StringBuilder();
|
||||
foreach (var row in rows)
|
||||
{
|
||||
sb.AppendLine(string.Join(" ", row.Select(static value => $"{value:F6}")));
|
||||
}
|
||||
|
||||
File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 清理程序名中的非法路径字符，避免输出目录受外部输入污染。
|
||||
/// </summary>
|
||||
private static string SanitizeDirectoryName(string name)
|
||||
{
|
||||
var invalidChars = Path.GetInvalidFileNameChars();
|
||||
var chars = name.Select(ch => invalidChars.Contains(ch) ? '_' : ch).ToArray();
|
||||
return new string(chars);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 取消当前稠密发送任务，避免旧轨迹继续向机器人下发。
|
||||
/// </summary>
|
||||
private void CancelSendTaskLocked()
|
||||
{
|
||||
_sendCts?.Cancel();
|
||||
|
||||
if (_sendTask is not null)
|
||||
{
|
||||
try
|
||||
{
|
||||
_sendTask.Wait(TimeSpan.FromSeconds(2));
|
||||
}
|
||||
catch (AggregateException)
|
||||
{
|
||||
// 忽略取消异常。
|
||||
}
|
||||
|
||||
_sendTask = null;
|
||||
}
|
||||
|
||||
_sendCts?.Dispose();
|
||||
_sendCts = null;
|
||||
}
|
||||
@@ -592,7 +912,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
||||
{
|
||||
if (_activeControllerIsSimulation is null)
|
||||
{
|
||||
throw new InvalidOperationException("Active controller has not been selected.");
|
||||
return false;
|
||||
}
|
||||
|
||||
return _activeControllerIsSimulation.Value;
|
||||
|
||||
@@ -6,6 +6,10 @@
|
||||
<Nullable>enable</Nullable>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<AssemblyAttribute Include="System.Runtime.CompilerServices.InternalsVisibleTo">
|
||||
<_Parameter1>Flyshot.Core.Tests</_Parameter1>
|
||||
@@ -14,6 +18,7 @@
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
|
||||
<ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
|
||||
<ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
using System.Net.Sockets;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Runtime.Fanuc.Protocol;
|
||||
|
||||
@@ -8,6 +9,7 @@ namespace Flyshot.Runtime.Fanuc.Protocol;
|
||||
public sealed class FanucCommandClient : IDisposable
|
||||
{
|
||||
private readonly SemaphoreSlim _sendLock = new(1, 1);
|
||||
private readonly ILogger<FanucCommandClient>? _logger;
|
||||
private TcpClient? _tcpClient;
|
||||
private NetworkStream? _stream;
|
||||
private bool _disposed;
|
||||
@@ -17,6 +19,15 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// </summary>
|
||||
public bool IsConnected => _tcpClient?.Connected ?? false;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 FANUC 命令通道客户端。
|
||||
/// </summary>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public FanucCommandClient(ILogger<FanucCommandClient>? logger = null)
|
||||
{
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 建立到 FANUC 控制柜 TCP 10012 命令通道的连接。
|
||||
/// </summary>
|
||||
@@ -37,9 +48,13 @@ public sealed class FanucCommandClient : IDisposable
|
||||
throw new InvalidOperationException("命令通道已经连接，请先 Disconnect。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("CommandClient ConnectAsync: {Ip}:{Port}", ip, port);
|
||||
|
||||
_tcpClient = new TcpClient { NoDelay = true };
|
||||
await _tcpClient.ConnectAsync(ip, port, cancellationToken).ConfigureAwait(false);
|
||||
_stream = _tcpClient.GetStream();
|
||||
|
||||
_logger?.LogInformation("CommandClient 已连接: {Ip}:{Port}", ip, port);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -49,6 +64,8 @@ public sealed class FanucCommandClient : IDisposable
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
_logger?.LogInformation("CommandClient Disconnect");
|
||||
|
||||
_stream?.Dispose();
|
||||
_stream = null;
|
||||
_tcpClient?.Dispose();
|
||||
@@ -105,9 +122,12 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <param name="programName">程序名。</param>
|
||||
/// <param name="cancellationToken">取消令牌。</param>
|
||||
/// <returns>结果响应。</returns>
|
||||
public Task<FanucCommandResultResponse> StopProgramAsync(string programName, CancellationToken cancellationToken = default)
|
||||
public async Task<FanucCommandResultResponse> StopProgramAsync(string programName, CancellationToken cancellationToken = default)
|
||||
{
|
||||
return SendProgramCommandAsync(FanucCommandMessageIds.StopProgram, programName, cancellationToken);
|
||||
_logger?.LogInformation("CommandClient StopProgram: {ProgramName}", programName);
|
||||
var result = await SendProgramCommandAsync(FanucCommandMessageIds.StopProgram, programName, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient StopProgram 成功: {ProgramName}", programName);
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -117,8 +137,10 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>结果响应。</returns>
|
||||
public async Task<FanucCommandResultResponse> ResetRobotAsync(CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogInformation("CommandClient ResetRobot");
|
||||
var frame = FanucCommandProtocol.PackEmptyCommand(FanucCommandMessageIds.ResetRobot);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient ResetRobot 成功");
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
|
||||
}
|
||||
|
||||
@@ -130,8 +152,10 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>程序状态响应。</returns>
|
||||
public async Task<FanucProgramStatusResponse> GetProgramStatusAsync(string programName, CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogInformation("CommandClient GetProgramStatus: {ProgramName}", programName);
|
||||
var frame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, programName);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient GetProgramStatus 成功: {ProgramName}", programName);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseProgramStatusResponse(response));
|
||||
}
|
||||
|
||||
@@ -141,9 +165,12 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <param name="programName">程序名。</param>
|
||||
/// <param name="cancellationToken">取消令牌。</param>
|
||||
/// <returns>结果响应。</returns>
|
||||
public Task<FanucCommandResultResponse> StartProgramAsync(string programName, CancellationToken cancellationToken = default)
|
||||
public async Task<FanucCommandResultResponse> StartProgramAsync(string programName, CancellationToken cancellationToken = default)
|
||||
{
|
||||
return SendProgramCommandAsync(FanucCommandMessageIds.StartProgram, programName, cancellationToken);
|
||||
_logger?.LogInformation("CommandClient StartProgram: {ProgramName}", programName);
|
||||
var result = await SendProgramCommandAsync(FanucCommandMessageIds.StartProgram, programName, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient StartProgram 成功: {ProgramName}", programName);
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -153,9 +180,12 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>速度倍率响应。</returns>
|
||||
public async Task<FanucSpeedRatioResponse> GetSpeedRatioAsync(CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogDebug("CommandClient GetSpeedRatio");
|
||||
var frame = FanucCommandProtocol.PackGetSpeedRatioCommand();
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseSpeedRatioResponse(response));
|
||||
var result = EnsureSuccess(FanucCommandProtocol.ParseSpeedRatioResponse(response));
|
||||
_logger?.LogDebug("CommandClient GetSpeedRatio 成功: ratio={Ratio}", result.Ratio);
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -166,8 +196,10 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>结果响应。</returns>
|
||||
public async Task<FanucCommandResultResponse> SetSpeedRatioAsync(double ratio, CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogInformation("CommandClient SetSpeedRatio: ratio={Ratio}", ratio);
|
||||
var frame = FanucCommandProtocol.PackSetSpeedRatioCommand(ratio);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient SetSpeedRatio 成功: ratio={Ratio}", ratio);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
|
||||
}
|
||||
|
||||
@@ -179,9 +211,12 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>TCP 位姿响应。</returns>
|
||||
public async Task<FanucTcpResponse> GetTcpAsync(uint tcpId = 1, CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogDebug("CommandClient GetTcp: tcpId={TcpId}", tcpId);
|
||||
var frame = FanucCommandProtocol.PackGetTcpCommand(tcpId);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseTcpResponse(response));
|
||||
var result = EnsureSuccess(FanucCommandProtocol.ParseTcpResponse(response));
|
||||
_logger?.LogDebug("CommandClient GetTcp 成功: tcpId={TcpId}, pose=[{Pose}]", tcpId, string.Join(", ", result.Pose.Select(v => v.ToString("F2"))));
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -193,8 +228,10 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>结果响应。</returns>
|
||||
public async Task<FanucCommandResultResponse> SetTcpAsync(uint tcpId, IReadOnlyList<double> pose, CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogInformation("CommandClient SetTcp: tcpId={TcpId}, pose=[{Pose}]", tcpId, string.Join(", ", pose.Take(3).Select(v => v.ToString("F2"))));
|
||||
var frame = FanucCommandProtocol.PackSetTcpCommand(tcpId, pose);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient SetTcp 成功: tcpId={TcpId}", tcpId);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
|
||||
}
|
||||
|
||||
@@ -207,9 +244,12 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>IO 读取响应。</returns>
|
||||
public async Task<FanucIoResponse> GetIoAsync(int port, string ioType, CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogDebug("CommandClient GetIo: port={Port}, ioType={IoType}", port, ioType);
|
||||
var frame = FanucCommandProtocol.PackGetIoCommand(FanucIoTypes.FromName(ioType), port);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseIoResponse(response));
|
||||
var result = EnsureSuccess(FanucCommandProtocol.ParseIoResponse(response));
|
||||
_logger?.LogDebug("CommandClient GetIo 成功: port={Port}, value={Value}", port, result.Value);
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -222,8 +262,10 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <returns>结果响应。</returns>
|
||||
public async Task<FanucCommandResultResponse> SetIoAsync(int port, bool value, string ioType, CancellationToken cancellationToken = default)
|
||||
{
|
||||
_logger?.LogInformation("CommandClient SetIo: port={Port}, value={Value}, ioType={IoType}", port, value, ioType);
|
||||
var frame = FanucCommandProtocol.PackSetIoCommand(FanucIoTypes.FromName(ioType), port, value);
|
||||
var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient SetIo 成功: port={Port}, value={Value}", port, value);
|
||||
return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
|
||||
}
|
||||
|
||||
@@ -259,7 +301,9 @@ public sealed class FanucCommandClient : IDisposable
|
||||
try
|
||||
{
|
||||
await _stream.WriteAsync(frame, cancellationToken).ConfigureAwait(false);
|
||||
return await ReadResponseFrameAsync(cancellationToken).ConfigureAwait(false);
|
||||
var response = await ReadResponseFrameAsync(cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogDebug("CommandClient 发送帧成功: 帧长度={FrameLength}, 响应长度={ResponseLength}", frame.Length, response.Length);
|
||||
return response;
|
||||
}
|
||||
finally
|
||||
{
|
||||
@@ -270,10 +314,11 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <summary>
|
||||
/// 校验普通命令响应结果码，失败时抛出包含消息号和结果码的诊断异常。
|
||||
/// </summary>
|
||||
private static FanucCommandResultResponse EnsureSuccess(FanucCommandResultResponse response)
|
||||
private FanucCommandResultResponse EnsureSuccess(FanucCommandResultResponse response)
|
||||
{
|
||||
if (!response.IsSuccess)
|
||||
{
|
||||
_logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
|
||||
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
|
||||
}
|
||||
|
||||
@@ -283,10 +328,11 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <summary>
|
||||
/// 校验程序状态响应结果码，失败时抛出包含消息号和结果码的诊断异常。
|
||||
/// </summary>
|
||||
private static FanucProgramStatusResponse EnsureSuccess(FanucProgramStatusResponse response)
|
||||
private FanucProgramStatusResponse EnsureSuccess(FanucProgramStatusResponse response)
|
||||
{
|
||||
if (!response.IsSuccess)
|
||||
{
|
||||
_logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
|
||||
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
|
||||
}
|
||||
|
||||
@@ -296,10 +342,11 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <summary>
|
||||
/// 校验速度倍率响应结果码，失败时抛出包含消息号和结果码的诊断异常。
|
||||
/// </summary>
|
||||
private static FanucSpeedRatioResponse EnsureSuccess(FanucSpeedRatioResponse response)
|
||||
private FanucSpeedRatioResponse EnsureSuccess(FanucSpeedRatioResponse response)
|
||||
{
|
||||
if (!response.IsSuccess)
|
||||
{
|
||||
_logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
|
||||
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
|
||||
}
|
||||
|
||||
@@ -309,10 +356,11 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <summary>
|
||||
/// 校验 TCP 位姿响应结果码，失败时抛出包含消息号和结果码的诊断异常。
|
||||
/// </summary>
|
||||
private static FanucTcpResponse EnsureSuccess(FanucTcpResponse response)
|
||||
private FanucTcpResponse EnsureSuccess(FanucTcpResponse response)
|
||||
{
|
||||
if (!response.IsSuccess)
|
||||
{
|
||||
_logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
|
||||
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
|
||||
}
|
||||
|
||||
@@ -322,10 +370,11 @@ public sealed class FanucCommandClient : IDisposable
|
||||
/// <summary>
|
||||
/// 校验 IO 读取响应结果码，失败时抛出包含消息号和结果码的诊断异常。
|
||||
/// </summary>
|
||||
private static FanucIoResponse EnsureSuccess(FanucIoResponse response)
|
||||
private FanucIoResponse EnsureSuccess(FanucIoResponse response)
|
||||
{
|
||||
if (!response.IsSuccess)
|
||||
{
|
||||
_logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
|
||||
throw CreateCommandFailureException(response.MessageId, response.ResultCode);
|
||||
}
|
||||
|
||||
|
||||
@@ -548,9 +548,9 @@ public static class FanucCommandProtocol
|
||||
throw new InvalidDataException("FANUC 程序状态响应体长度不足。");
|
||||
}
|
||||
|
||||
// 抓包样本中的字段顺序为 result_code 后接 prog_status。
|
||||
var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
|
||||
var programStatus = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
|
||||
// all-reconnect.pcap 中字段顺序为 prog_status 后接 result_code。
|
||||
var programStatus = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
|
||||
var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
|
||||
return new FanucProgramStatusResponse(messageId, resultCode, programStatus);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,21 +1,33 @@
|
||||
using System.Diagnostics;
|
||||
using System.Net.Sockets;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Runtime.Fanuc.Protocol;
|
||||
|
||||
/// <summary>
|
||||
/// FANUC UDP 60015 J519/ICSP 伺服运动客户端，提供周期命令发送与响应接收能力。
|
||||
/// FANUC UDP 60015 J519/ICSP 伺服运动客户端，提供状态包驱动的命令发送与响应接收能力。
|
||||
/// </summary>
|
||||
public sealed class FanucJ519Client : IDisposable
|
||||
{
|
||||
private readonly object _commandLock = new();
|
||||
private readonly object _responseLock = new();
|
||||
private readonly ILogger<FanucJ519Client>? _logger;
|
||||
private UdpClient? _udpClient;
|
||||
private CancellationTokenSource? _cts;
|
||||
private Task? _sendTask;
|
||||
private Task? _receiveTask;
|
||||
private Thread? _receiveThread;
|
||||
private FanucJ519Command? _currentCommand;
|
||||
private FanucJ519Command? _lastSentCommand;
|
||||
// 稠密轨迹执行时预装的命令队列，由机器人状态包节拍逐帧出队。
|
||||
private Queue<FanucJ519Command>? _commandQueue;
|
||||
private TaskCompletionSource? _commandQueueDrainedCompletion;
|
||||
private List<FanucJ519Command>? _commandHistoryForTests;
|
||||
private FanucJ519Response? _latestResponse;
|
||||
private long _slowSendCount;
|
||||
private long _maxReceiveToSendTicks;
|
||||
private uint _sequenceBufferSize;
|
||||
// 标记 StartMotion 前是否刚装载过新目标，用于区分新命令和上次运动残留目标。
|
||||
private bool _hasPendingCommandForStart;
|
||||
private bool _motionStarted;
|
||||
private bool _disposed;
|
||||
|
||||
/// <summary>
|
||||
@@ -23,6 +35,15 @@ public sealed class FanucJ519Client : IDisposable
|
||||
/// </summary>
|
||||
public bool IsConnected => _udpClient is not null;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化 FANUC J519 客户端。
|
||||
/// </summary>
|
||||
/// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
|
||||
public FanucJ519Client(ILogger<FanucJ519Client>? logger = null)
|
||||
{
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 建立到 FANUC 控制柜 UDP 60015 运动通道的连接并启动接收循环。
|
||||
/// </summary>
|
||||
@@ -43,18 +64,29 @@ public sealed class FanucJ519Client : IDisposable
|
||||
throw new InvalidOperationException("J519 通道已经连接，请先 Disconnect。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("J519 ConnectAsync: {Ip}:{Port}", ip, port);
|
||||
|
||||
_udpClient = new UdpClient();
|
||||
_udpClient.Connect(ip, port);
|
||||
ConfigureRealtimeSocket(_udpClient.Client);
|
||||
ConfigureProcessPriority();
|
||||
|
||||
// 发送初始化包。
|
||||
await _udpClient.SendAsync(FanucJ519Protocol.PackInitPacket(), cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogInformation("J519 初始化包已发送");
|
||||
|
||||
_cts = new CancellationTokenSource();
|
||||
_receiveTask = Task.Run(() => ReceiveLoopAsync(_cts.Token), _cts.Token);
|
||||
_receiveThread = new Thread(ReceiveLoop)
|
||||
{
|
||||
IsBackground = true,
|
||||
Name = "J519 UDP realtime loop",
|
||||
Priority = ThreadPriority.Highest
|
||||
};
|
||||
_receiveThread.Start();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 启动约 8ms 周期的 J519 命令发送循环。
|
||||
/// 启动 J519 命令发送许可；实际发包由机器人状态包节拍驱动。
|
||||
/// </summary>
|
||||
public void StartMotion()
|
||||
{
|
||||
@@ -65,16 +97,50 @@ public sealed class FanucJ519Client : IDisposable
|
||||
throw new InvalidOperationException("J519 通道未连接。");
|
||||
}
|
||||
|
||||
if (_sendTask is not null)
|
||||
lock (_commandLock)
|
||||
{
|
||||
return; // 已在运行。
|
||||
_lastSentCommand = null;
|
||||
if (_motionStarted)
|
||||
{
|
||||
_logger?.LogDebug("J519 StartMotion: 状态包驱动发送已启用");
|
||||
return;
|
||||
}
|
||||
|
||||
if (!_hasPendingCommandForStart)
|
||||
{
|
||||
_currentCommand = null;
|
||||
CompleteCommandQueueLocked();
|
||||
}
|
||||
|
||||
_hasPendingCommandForStart = false;
|
||||
_motionStarted = true;
|
||||
|
||||
}
|
||||
|
||||
_sendTask = Task.Run(() => SendLoopAsync(_cts!.Token), _cts!.Token);
|
||||
_logger?.LogInformation("J519 StartMotion: 已启用状态包驱动发送");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发送结束包并停止 J519 命令发送循环。
|
||||
/// 配置状态包驱动回发时附加到机器人 sequence 的前视缓冲深度。
|
||||
/// </summary>
|
||||
/// <param name="bufferSize">要附加到状态序号上的缓冲深度。</param>
|
||||
public void SetSequenceBufferSize(int bufferSize)
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
if (bufferSize < 0)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(nameof(bufferSize), "J519 sequence buffer size 不能为负数。");
|
||||
}
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
_sequenceBufferSize = (uint)bufferSize;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发送状态输出停止包并停止 J519 命令发送。
|
||||
/// </summary>
|
||||
public async Task StopMotionAsync(CancellationToken cancellationToken = default)
|
||||
{
|
||||
@@ -85,28 +151,17 @@ public sealed class FanucJ519Client : IDisposable
|
||||
return;
|
||||
}
|
||||
|
||||
_cts?.Cancel();
|
||||
|
||||
if (_sendTask is not null)
|
||||
_logger?.LogInformation("J519 StopMotionAsync: 停止状态包驱动发送");
|
||||
lock (_commandLock)
|
||||
{
|
||||
try
|
||||
{
|
||||
await _sendTask.WaitAsync(TimeSpan.FromSeconds(1), cancellationToken).ConfigureAwait(false);
|
||||
}
|
||||
catch (TimeoutException)
|
||||
{
|
||||
// 发送循环可能未能在 1 秒内结束，继续执行后续清理。
|
||||
}
|
||||
catch (OperationCanceledException)
|
||||
{
|
||||
// 正常取消。
|
||||
}
|
||||
|
||||
_sendTask = null;
|
||||
_motionStarted = false;
|
||||
_hasPendingCommandForStart = false;
|
||||
CompleteCommandQueueLocked();
|
||||
}
|
||||
|
||||
// 发送结束包通知控制器停止伺服流。
|
||||
// FANUC 手册中 packet type=2 表示停止状态包输出；当前保留现场抓包兼容行为。
|
||||
await _udpClient.SendAsync(FanucJ519Protocol.PackEndPacket(), cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogInformation("J519 StopMotionAsync: 状态输出停止包已发送");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -120,7 +175,104 @@ public sealed class FanucJ519Client : IDisposable
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
CompleteCommandQueueLocked();
|
||||
_currentCommand = command;
|
||||
_hasPendingCommandForStart = true;
|
||||
_commandHistoryForTests?.Add(command);
|
||||
}
|
||||
|
||||
if (_logger?.IsEnabled(LogLevel.Debug) == true)
|
||||
{
|
||||
//_logger.LogDebug(
|
||||
// "J519 UpdateCommand: joints={Joints}, ioMask={IoMask}, ioValue={IoValue}",
|
||||
// command.TargetJoints,
|
||||
// command.WriteIoMask,
|
||||
// command.WriteIoValue);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 装载一整段 J519 命令队列；后续每个可接收命令的机器人状态包会自动取出下一帧。
|
||||
/// </summary>
|
||||
/// <param name="commands">按执行顺序排列的 J519 命令列表，至少包含一帧。</param>
|
||||
public void LoadCommandQueue(IReadOnlyList<FanucJ519Command> commands)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(commands);
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
if (commands.Count == 0)
|
||||
{
|
||||
throw new ArgumentException("J519 命令队列至少需要包含一帧。", nameof(commands));
|
||||
}
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
CompleteCommandQueueLocked();
|
||||
_commandQueue = new Queue<FanucJ519Command>(commands);
|
||||
// 队列耗尽后继续保持最后一帧目标，避免运动结束后回落到旧目标或空目标。
|
||||
_currentCommand = commands[^1];
|
||||
_hasPendingCommandForStart = true;
|
||||
_commandQueueDrainedCompletion = new TaskCompletionSource(TaskCreationOptions.RunContinuationsAsynchronously);
|
||||
_commandHistoryForTests?.AddRange(commands);
|
||||
}
|
||||
_logger?.LogInformation("J519 命令队列已装载: count={Count}", commands.Count);
|
||||
_logger?.LogInformation("开始运动前向机器人发送的sequence={Sequence}",_lastSentCommand?.Sequence ?? 0);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 等待当前预装命令队列被状态包全部取出；无队列时立即完成。
|
||||
/// </summary>
|
||||
/// <param name="cancellationToken">取消令牌。</param>
|
||||
/// <returns>表示等待过程的任务。</returns>
|
||||
internal Task WaitForCommandQueueDrainedAsync(CancellationToken cancellationToken = default)
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
Task waitTask;
|
||||
lock (_commandLock)
|
||||
{
|
||||
waitTask = _commandQueueDrainedCompletion?.Task ?? Task.CompletedTask;
|
||||
}
|
||||
|
||||
return waitTask.WaitAsync(cancellationToken);
|
||||
}
|
||||
|
||||
/// 判断当前是否没有等待出队的命令；仅供单元测试断言。
|
||||
/// </summary>
|
||||
/// <returns>如果队列为空或尚未装载队列，则返回 true。</returns>
|
||||
internal bool IsCommandQueueDrainedForTests()
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
return _commandQueue is null || _commandQueue.Count == 0;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 打开命令历史记录，仅供单元测试验证运行时生成的命令序列。
|
||||
/// </summary>
|
||||
internal void EnableCommandHistoryForTests()
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
_commandHistoryForTests = [];
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取测试记录的命令历史。
|
||||
/// </summary>
|
||||
/// <returns>命令历史快照。</returns>
|
||||
internal IReadOnlyList<FanucJ519Command> GetCommandHistoryForTests()
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
return _commandHistoryForTests?.ToArray() ?? Array.Empty<FanucJ519Command>();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -163,37 +315,29 @@ public sealed class FanucJ519Client : IDisposable
|
||||
|
||||
try
|
||||
{
|
||||
_sendTask?.Wait(TimeSpan.FromSeconds(1));
|
||||
_udpClient?.Dispose();
|
||||
_receiveThread?.Join(TimeSpan.FromSeconds(1));
|
||||
}
|
||||
catch (AggregateException)
|
||||
catch (ObjectDisposedException)
|
||||
{
|
||||
// 忽略取消异常。
|
||||
// 忽略释放期间的套接字关闭异常。
|
||||
}
|
||||
|
||||
_sendTask?.Dispose();
|
||||
_sendTask = null;
|
||||
|
||||
try
|
||||
{
|
||||
_receiveTask?.Wait(TimeSpan.FromSeconds(1));
|
||||
}
|
||||
catch (AggregateException)
|
||||
{
|
||||
// 忽略取消异常。
|
||||
}
|
||||
|
||||
_receiveTask?.Dispose();
|
||||
_receiveTask = null;
|
||||
_receiveThread = null;
|
||||
|
||||
_cts?.Dispose();
|
||||
_cts = null;
|
||||
|
||||
_udpClient?.Dispose();
|
||||
_udpClient = null;
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
_currentCommand = null;
|
||||
_lastSentCommand = null;
|
||||
CompleteCommandQueueLocked();
|
||||
_commandHistoryForTests = null;
|
||||
_hasPendingCommandForStart = false;
|
||||
_motionStarted = false;
|
||||
}
|
||||
|
||||
lock (_responseLock)
|
||||
@@ -217,106 +361,294 @@ public sealed class FanucJ519Client : IDisposable
|
||||
|
||||
try
|
||||
{
|
||||
_sendTask?.Wait(TimeSpan.FromSeconds(1));
|
||||
_udpClient?.Dispose();
|
||||
_receiveThread?.Join(TimeSpan.FromSeconds(1));
|
||||
}
|
||||
catch (AggregateException)
|
||||
catch (ObjectDisposedException)
|
||||
{
|
||||
// 忽略取消异常。
|
||||
// 忽略释放期间的套接字关闭异常。
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
_receiveTask?.Wait(TimeSpan.FromSeconds(1));
|
||||
}
|
||||
catch (AggregateException)
|
||||
{
|
||||
// 忽略取消异常。
|
||||
}
|
||||
|
||||
_sendTask?.Dispose();
|
||||
_receiveTask?.Dispose();
|
||||
_cts?.Dispose();
|
||||
_udpClient?.Dispose();
|
||||
|
||||
lock (_commandLock)
|
||||
{
|
||||
CompleteCommandQueueLocked();
|
||||
_hasPendingCommandForStart = false;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 后台发送循环：以 Stopwatch + SpinWait 实现高精度 8ms 周期发送当前命令。
|
||||
/// </summary>
|
||||
private async Task SendLoopAsync(CancellationToken cancellationToken)
|
||||
private static void ConfigureProcessPriority()
|
||||
{
|
||||
if (_udpClient is null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// 8ms 伺服周期，对应 125Hz。
|
||||
var periodTicks = (long)(0.008 * Stopwatch.Frequency);
|
||||
var stopwatch = Stopwatch.StartNew();
|
||||
long nextTick = stopwatch.ElapsedTicks;
|
||||
|
||||
try
|
||||
{
|
||||
while (!cancellationToken.IsCancellationRequested)
|
||||
var process = Process.GetCurrentProcess();
|
||||
if (process.PriorityClass < ProcessPriorityClass.High)
|
||||
{
|
||||
nextTick += periodTicks;
|
||||
|
||||
FanucJ519Command? command;
|
||||
lock (_commandLock)
|
||||
{
|
||||
command = _currentCommand;
|
||||
}
|
||||
|
||||
if (command is not null)
|
||||
{
|
||||
var packet = FanucJ519Protocol.PackCommandPacket(command);
|
||||
await _udpClient.SendAsync(packet, cancellationToken).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
// 高精度忙等待直到下一周期，避免 PeriodicTimer 的 ±15ms 抖动。
|
||||
while (stopwatch.ElapsedTicks < nextTick)
|
||||
{
|
||||
Thread.SpinWait(1);
|
||||
}
|
||||
process.PriorityClass = ProcessPriorityClass.High;
|
||||
}
|
||||
}
|
||||
catch (OperationCanceledException)
|
||||
catch (Exception)
|
||||
{
|
||||
// 正常取消，退出循环。
|
||||
// 某些部署环境不允许提升进程优先级；实时链路仍按普通优先级运行。
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 后台接收循环：持续接收 132B 响应并解析。
|
||||
/// 配置 J519 UDP 套接字的低延迟参数。
|
||||
/// </summary>
|
||||
private async Task ReceiveLoopAsync(CancellationToken cancellationToken)
|
||||
/// <param name="socket">已连接 FANUC 60015 的 UDP 套接字。</param>
|
||||
private void ConfigureRealtimeSocket(Socket socket)
|
||||
{
|
||||
if (_udpClient is null)
|
||||
socket.ReceiveBufferSize = 1024 * 1024;
|
||||
socket.SendBufferSize = 1024 * 1024;
|
||||
|
||||
try
|
||||
{
|
||||
// DSCP EF(46) 标记低延迟流量，是否生效取决于现场网卡、交换机和控制柜网络策略。
|
||||
socket.SetSocketOption(SocketOptionLevel.IP, SocketOptionName.TypeOfService, 0xB8);
|
||||
}
|
||||
catch (SocketException ex)
|
||||
{
|
||||
_logger?.LogWarning(ex, "J519 UDP 套接字无法设置 DSCP EF 优先级标记");
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 后台接收循环：在专用高优先级线程中同步接收 132B 响应并立即回发命令。
|
||||
/// </summary>
|
||||
private void ReceiveLoop()
|
||||
{
|
||||
var udpClient = _udpClient;
|
||||
var cancellationToken = _cts?.Token ?? CancellationToken.None;
|
||||
if (udpClient is null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
_logger?.LogInformation("J519 ReceiveLoop 启动");
|
||||
long receiveCount = 0;
|
||||
FanucJ519Response? lastLoggedResponse = null;
|
||||
var receiveBuffer = new byte[FanucJ519Protocol.ResponsePacketLength];
|
||||
var commandBuffer = new byte[FanucJ519Protocol.CommandPacketLength];
|
||||
|
||||
try
|
||||
{
|
||||
while (!cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
var result = await _udpClient.ReceiveAsync(cancellationToken).ConfigureAwait(false);
|
||||
if (result.Buffer.Length == FanucJ519Protocol.ResponsePacketLength)
|
||||
var received = udpClient.Client.Receive(receiveBuffer);
|
||||
if (received == FanucJ519Protocol.ResponsePacketLength)
|
||||
{
|
||||
var response = FanucJ519Protocol.ParseResponse(result.Buffer);
|
||||
var receiveTicks = Stopwatch.GetTimestamp();
|
||||
var response = FanucJ519Protocol.ParseResponse(receiveBuffer);
|
||||
|
||||
// 先按状态包节拍回发命令，再做低频日志处理，减少受信周期内的非必要工作。
|
||||
if (response.AcceptsCommand)
|
||||
{
|
||||
SendCommandForStatus(udpClient.Client, response, commandBuffer, receiveTicks);
|
||||
}
|
||||
|
||||
lock (_responseLock)
|
||||
{
|
||||
_latestResponse = response;
|
||||
}
|
||||
|
||||
receiveCount++;
|
||||
|
||||
// 仅在状态变化时记录 Info，避免高频日志。
|
||||
if (lastLoggedResponse is null
|
||||
|| lastLoggedResponse.Status != response.Status
|
||||
|| lastLoggedResponse.RobotInMotion != response.RobotInMotion
|
||||
|| lastLoggedResponse.SystemReady != response.SystemReady
|
||||
|| lastLoggedResponse.AcceptsCommand != response.AcceptsCommand)
|
||||
{
|
||||
_logger?.LogInformation(
|
||||
"J519 响应: status=0x{Status:X2}, seq={Seq}, accept={Accept}, received={received}, SystemReady={SystemReady}, RobotInMotion={RobotInMotion}, pose=[{Pose}], joints=[{Joints}]",
|
||||
response.Status,
|
||||
response.Sequence,
|
||||
response.AcceptsCommand,
|
||||
response.ReceivedCommand,
|
||||
response.SystemReady,
|
||||
response.RobotInMotion,
|
||||
string.Join(", ", response.Pose.Select(v => v.ToString("F3"))),
|
||||
string.Join(", ", response.JointDegrees.Take(6).Select(v => v.ToString("F3"))));
|
||||
|
||||
var lastSentTargetJoints = GetLastSentTargetJointsLogText();
|
||||
_logger?.LogInformation("J519 最后一条发送目标关节轴: joints=[{Joints}]", lastSentTargetJoints);
|
||||
lastLoggedResponse = response;
|
||||
|
||||
// 如果状态从AcceptsCommand true 变为false,说明机器人报错,清空队列
|
||||
if (!response.AcceptsCommand)
|
||||
{
|
||||
lock (_commandLock)
|
||||
{
|
||||
_currentCommand = null;
|
||||
CompleteCommandQueueLocked();
|
||||
}
|
||||
_logger?.LogWarning("J519 接收状态包显示机器人不可接受命令，已清空命令队列");
|
||||
}
|
||||
|
||||
}
|
||||
else if (receiveCount % 1000 == 0)
|
||||
{
|
||||
var maxReceiveToSendMs = Stopwatch.GetElapsedTime(0, Interlocked.Read(ref _maxReceiveToSendTicks)).TotalMilliseconds;
|
||||
_logger?.LogDebug(
|
||||
"J519 已接收 {Count} 个响应包，receive-to-send 最大耗时约 {MaxMs:F3}ms，超过 0.5ms 次数 {SlowCount}",
|
||||
receiveCount,
|
||||
maxReceiveToSendMs,
|
||||
Interlocked.Read(ref _slowSendCount));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
catch (OperationCanceledException)
|
||||
{
|
||||
// 正常取消，退出循环。
|
||||
_logger?.LogInformation("J519 ReceiveLoop 正常取消，共接收 {Count} 个包", receiveCount);
|
||||
}
|
||||
catch (ObjectDisposedException)
|
||||
{
|
||||
// UDP 客户端已释放，退出循环。
|
||||
_logger?.LogInformation("J519 ReceiveLoop 因 UDP 释放退出，共接收 {Count} 个包", receiveCount);
|
||||
}
|
||||
catch (SocketException ex) when (cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
_logger?.LogInformation(ex, "J519 ReceiveLoop 因取消关闭套接字退出，共接收 {Count} 个包", receiveCount);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 按机器人状态包的 sequence 立即回发当前 J519 命令。
|
||||
/// </summary>
|
||||
/// <param name="socket">已连接的 UDP 套接字。</param>
|
||||
/// <param name="response">刚收到的机器人状态包。</param>
|
||||
/// <param name="commandBuffer">可复用的 64B 命令包缓冲区。</param>
|
||||
/// <param name="receiveTicks">收到状态包后的时间戳。</param>
|
||||
private void SendCommandForStatus(Socket socket, FanucJ519Response response, byte[] commandBuffer, long receiveTicks)
|
||||
{
|
||||
FanucJ519Command? command;
|
||||
var willDrainQueue = false;
|
||||
lock (_commandLock)
|
||||
{
|
||||
if (!_motionStarted)
|
||||
{
|
||||
command = null;
|
||||
}
|
||||
else if (_commandQueue is { Count: > 0 } queue)
|
||||
{
|
||||
// 状态包是唯一节拍源：每收到一帧可接收状态，才取出下一条目标。
|
||||
var queuedCommand = queue.Dequeue();
|
||||
_currentCommand = queuedCommand;
|
||||
willDrainQueue = queue.Count == 0;
|
||||
command = queuedCommand;
|
||||
}
|
||||
else
|
||||
{
|
||||
command = _currentCommand;
|
||||
}
|
||||
}
|
||||
|
||||
if (command is null)
|
||||
{
|
||||
command = TryBuildHoldCommandFromLatestResponse(response);
|
||||
}
|
||||
|
||||
if (command is null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
uint sequenceToSend;
|
||||
lock (_commandLock)
|
||||
{
|
||||
sequenceToSend = response.Sequence + _sequenceBufferSize;
|
||||
}
|
||||
|
||||
FanucJ519Protocol.PackCommandPacket(command, sequenceToSend, commandBuffer);
|
||||
socket.Send(commandBuffer);
|
||||
TrackReceiveToSendLatency(receiveTicks);
|
||||
// _logger?.LogDebug("J519 已回发命令包，seq={Seq}", sequence);
|
||||
// _logger?.LogDebug(
|
||||
// "J519 回发命令详情: joints={Joints}, ioMask={IoMask}, ioValue={IoValue}",
|
||||
// command.TargetJoints,
|
||||
// command.WriteIoMask,
|
||||
// command.WriteIoValue);
|
||||
lock (_commandLock)
|
||||
{
|
||||
_lastSentCommand = command;
|
||||
if (willDrainQueue && _commandQueue is { Count: 0 })
|
||||
{
|
||||
CompleteCommandQueueLocked();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 当当前没有显式目标时，使用最近一帧状态反馈关节角构造保姿命令，维持机器人当前位置。
|
||||
/// </summary>
|
||||
/// <param name="response">当前收到的机器人状态包。</param>
|
||||
/// <returns>可用于保姿的临时 J519 命令；若反馈关节不足则返回 null。</returns>
|
||||
private static FanucJ519Command? TryBuildHoldCommandFromLatestResponse(FanucJ519Response response)
|
||||
{
|
||||
if (response.JointDegrees.Count < 6)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
// 无运动目标时，持续回发机器人当前反馈关节，保持伺服流与机器人当前位置一致。
|
||||
return new FanucJ519Command(
|
||||
sequence: response.Sequence,
|
||||
targetJoints:
|
||||
[
|
||||
response.JointDegrees[0],
|
||||
response.JointDegrees[1],
|
||||
response.JointDegrees[2],
|
||||
response.JointDegrees[3],
|
||||
response.JointDegrees[4],
|
||||
response.JointDegrees[5]
|
||||
]);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 记录状态包到命令包发出的最大耗时和慢发送次数，供低频诊断日志观察调度抖动。
|
||||
/// </summary>
|
||||
/// <param name="receiveTicks">收到状态包后的时间戳。</param>
|
||||
private void TrackReceiveToSendLatency(long receiveTicks)
|
||||
{
|
||||
var elapsedTicks = Stopwatch.GetTimestamp() - receiveTicks;
|
||||
var currentMax = Interlocked.Read(ref _maxReceiveToSendTicks);
|
||||
while (elapsedTicks > currentMax
|
||||
&& Interlocked.CompareExchange(ref _maxReceiveToSendTicks, elapsedTicks, currentMax) != currentMax)
|
||||
{
|
||||
currentMax = Interlocked.Read(ref _maxReceiveToSendTicks);
|
||||
}
|
||||
|
||||
if (Stopwatch.GetElapsedTime(0, elapsedTicks) > TimeSpan.FromMilliseconds(0.5))
|
||||
{
|
||||
Interlocked.Increment(ref _slowSendCount);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 清空当前命令队列，并唤醒等待队列结束的运行时任务。
|
||||
/// </summary>
|
||||
private void CompleteCommandQueueLocked()
|
||||
{
|
||||
_commandQueue?.Clear();
|
||||
_commandQueue = null;
|
||||
_commandQueueDrainedCompletion?.TrySetResult();
|
||||
_commandQueueDrainedCompletion = null;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 读取最近一次已成功发送命令的目标关节轴文本，便于状态日志直接对照控制目标。
|
||||
/// </summary>
|
||||
/// <returns>格式化后的目标关节轴文本；如果尚未发送命令则返回占位符。</returns>
|
||||
private string GetLastSentTargetJointsLogText()
|
||||
{
|
||||
lock (_commandLock)
|
||||
{
|
||||
return _lastSentCommand is null
|
||||
? "n/a"
|
||||
: string.Join(", ", _lastSentCommand.TargetJoints.Take(6).Select(v => v.ToString("F5")));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -301,28 +301,45 @@ public static class FanucJ519Protocol
|
||||
ArgumentNullException.ThrowIfNull(command);
|
||||
|
||||
var packet = new byte[CommandPacketLength];
|
||||
BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x00, sizeof(uint)), 1);
|
||||
BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x04, sizeof(uint)), 1);
|
||||
BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x08, sizeof(uint)), command.Sequence);
|
||||
PackCommandPacket(command, command.Sequence, packet);
|
||||
return packet;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将 J519 64 字节命令包写入调用方提供的缓冲区。
|
||||
/// </summary>
|
||||
/// <param name="command">命令数据。</param>
|
||||
/// <param name="sequence">本次出包使用的机器人状态包序号。</param>
|
||||
/// <param name="packet">长度至少为 64 字节的命令包缓冲区。</param>
|
||||
public static void PackCommandPacket(FanucJ519Command command, uint sequence, Span<byte> packet)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(command);
|
||||
if (packet.Length < CommandPacketLength)
|
||||
{
|
||||
throw new ArgumentException("J519 命令包缓冲区长度不足。", nameof(packet));
|
||||
}
|
||||
|
||||
packet.Slice(0, CommandPacketLength).Clear();
|
||||
BinaryPrimitives.WriteUInt32BigEndian(packet.Slice(0x00, sizeof(uint)), 1);
|
||||
BinaryPrimitives.WriteUInt32BigEndian(packet.Slice(0x04, sizeof(uint)), 1);
|
||||
BinaryPrimitives.WriteUInt32BigEndian(packet.Slice(0x08, sizeof(uint)), sequence);
|
||||
packet[0x0c] = command.LastData;
|
||||
packet[0x0d] = command.ReadIoType;
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x0e, sizeof(ushort)), command.ReadIoIndex);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x10, sizeof(ushort)), command.ReadIoMask);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x0e, sizeof(ushort)), command.ReadIoIndex);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x10, sizeof(ushort)), command.ReadIoMask);
|
||||
packet[0x12] = command.DataStyle;
|
||||
packet[0x13] = command.WriteIoType;
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x14, sizeof(ushort)), command.WriteIoIndex);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x16, sizeof(ushort)), command.WriteIoMask);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x18, sizeof(ushort)), command.WriteIoValue);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x1a, sizeof(ushort)), 0);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x14, sizeof(ushort)), command.WriteIoIndex);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x16, sizeof(ushort)), command.WriteIoMask);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x18, sizeof(ushort)), command.WriteIoValue);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x1a, sizeof(ushort)), 0);
|
||||
|
||||
// J519 命令包固定保留 9 个 f32 目标槽位，少于 9 个时剩余槽位补零。
|
||||
for (var index = 0; index < 9; index++)
|
||||
{
|
||||
var value = index < command.TargetJoints.Count ? command.TargetJoints[index] : 0.0;
|
||||
BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x1c + (index * sizeof(float)), sizeof(float)), (float)value);
|
||||
BinaryPrimitives.WriteSingleBigEndian(packet.Slice(0x1c + (index * sizeof(float)), sizeof(float)), (float)value);
|
||||
}
|
||||
|
||||
return packet;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
using System.Net.Sockets;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Runtime.Fanuc.Protocol;
|
||||
|
||||
@@ -51,12 +52,12 @@ public sealed class FanucStateClientOptions
|
||||
/// <summary>
|
||||
/// 获取或设置重连等待时间的上限。
|
||||
/// </summary>
|
||||
public TimeSpan ReconnectMaxDelay { get; init; } = TimeSpan.FromSeconds(2);
|
||||
public TimeSpan ReconnectMaxDelay { get; init; } = TimeSpan.FromSeconds(5);
|
||||
|
||||
/// <summary>
|
||||
/// 获取或设置单次 TCP 建连允许的最长时间。
|
||||
/// </summary>
|
||||
public TimeSpan ConnectTimeout { get; init; } = TimeSpan.FromSeconds(2);
|
||||
public TimeSpan ConnectTimeout { get; init; } = TimeSpan.FromSeconds(5);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -114,6 +115,7 @@ public sealed class FanucStateClient : IDisposable
|
||||
{
|
||||
private readonly object _stateLock = new();
|
||||
private readonly FanucStateClientOptions _options;
|
||||
private readonly ILogger<FanucStateClient>? _logger;
|
||||
private TcpClient? _tcpClient;
|
||||
private NetworkStream? _stream;
|
||||
private CancellationTokenSource? _receiveCts;
|
||||
@@ -130,7 +132,7 @@ public sealed class FanucStateClient : IDisposable
|
||||
/// 使用默认状态通道参数初始化客户端。
|
||||
/// </summary>
|
||||
public FanucStateClient()
|
||||
: this(new FanucStateClientOptions())
|
||||
: this(new FanucStateClientOptions(), null)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -139,10 +141,21 @@ public sealed class FanucStateClient : IDisposable
|
||||
/// </summary>
|
||||
/// <param name="options">超时和重连参数。</param>
|
||||
public FanucStateClient(FanucStateClientOptions options)
|
||||
: this(options, null)
|
||||
{
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 使用指定状态通道参数和日志记录器初始化客户端。
|
||||
/// </summary>
|
||||
/// <param name="options">超时和重连参数。</param>
|
||||
/// <param name="logger">日志记录器；允许 null。</param>
|
||||
public FanucStateClient(FanucStateClientOptions options, ILogger<FanucStateClient>? logger)
|
||||
{
|
||||
ArgumentNullException.ThrowIfNull(options);
|
||||
ValidateOptions(options);
|
||||
_options = options;
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -170,6 +183,8 @@ public sealed class FanucStateClient : IDisposable
|
||||
throw new InvalidOperationException("状态通道已经连接，请先 Disconnect。");
|
||||
}
|
||||
|
||||
_logger?.LogInformation("StateClient ConnectAsync: {Ip}:{Port}", ip, port);
|
||||
|
||||
_receiveCts = new CancellationTokenSource();
|
||||
using var linkedCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken, _receiveCts.Token);
|
||||
|
||||
@@ -187,8 +202,9 @@ public sealed class FanucStateClient : IDisposable
|
||||
{
|
||||
await OpenConnectionAsync(ip, port, linkedCts.Token).ConfigureAwait(false);
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger?.LogError(exception, "StateClient 连接失败: {Ip}:{Port}", ip, port);
|
||||
CloseCurrentConnection();
|
||||
lock (_stateLock)
|
||||
{
|
||||
@@ -203,6 +219,8 @@ public sealed class FanucStateClient : IDisposable
|
||||
_receiveTask = Task.Run(
|
||||
() => ReceiveAndReconnectLoopAsync(ip, port, _receiveCts.Token),
|
||||
_receiveCts.Token);
|
||||
|
||||
_logger?.LogInformation("StateClient 已连接并启动接收循环: {Ip}:{Port}", ip, port);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -212,6 +230,7 @@ public sealed class FanucStateClient : IDisposable
|
||||
{
|
||||
ObjectDisposedException.ThrowIf(_disposed, this);
|
||||
|
||||
_logger?.LogInformation("StateClient Disconnect");
|
||||
Shutdown(clearLatestFrame: true);
|
||||
}
|
||||
|
||||
@@ -268,6 +287,7 @@ public sealed class FanucStateClient : IDisposable
|
||||
private async Task ReceiveAndReconnectLoopAsync(string ip, int port, CancellationToken cancellationToken)
|
||||
{
|
||||
var reconnectDelay = _options.ReconnectInitialDelay;
|
||||
_logger?.LogInformation("StateClient 接收循环启动: {Ip}:{Port}", ip, port);
|
||||
|
||||
while (!cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
@@ -278,14 +298,17 @@ public sealed class FanucStateClient : IDisposable
|
||||
}
|
||||
catch (OperationCanceledException) when (cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
_logger?.LogInformation("StateClient 接收循环正常取消");
|
||||
return;
|
||||
}
|
||||
catch (TimeoutException ex)
|
||||
{
|
||||
_logger?.LogWarning(ex, "StateClient 接收超时");
|
||||
MarkReceiveFailure(FanucStateConnectionState.TimedOut, ex.Message);
|
||||
}
|
||||
catch (Exception ex) when (ex is IOException or InvalidDataException or SocketException or ObjectDisposedException)
|
||||
{
|
||||
_logger?.LogWarning(ex, "StateClient 连接异常，准备重连");
|
||||
MarkReceiveFailure(FanucStateConnectionState.Reconnecting, ex.Message);
|
||||
}
|
||||
|
||||
@@ -312,6 +335,8 @@ public sealed class FanucStateClient : IDisposable
|
||||
}
|
||||
|
||||
var buffer = new byte[FanucStateProtocol.StateFrameLength];
|
||||
long frameCount = 0;
|
||||
FanucStateFrame? lastLoggedFrame = null;
|
||||
|
||||
while (!cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
@@ -325,6 +350,26 @@ public sealed class FanucStateClient : IDisposable
|
||||
_connectionState = FanucStateConnectionState.Connected;
|
||||
_lastErrorMessage = null;
|
||||
}
|
||||
|
||||
frameCount++;
|
||||
|
||||
// 仅在状态变化或首次接收时记录 Info，避免高频日志。
|
||||
if (lastLoggedFrame is null
|
||||
|| lastLoggedFrame.CartesianPose[0] != frame.CartesianPose[0]
|
||||
|| !lastLoggedFrame.RawTailWords.SequenceEqual(frame.RawTailWords))
|
||||
{
|
||||
_logger?.LogInformation(
|
||||
"StateClient 收到状态帧: pose=[{X:F1}, {Y:F1}, {Z:F1}], tail=[{Tail}]",
|
||||
frame.CartesianPose[0],
|
||||
frame.CartesianPose[1],
|
||||
frame.CartesianPose[2],
|
||||
string.Join(", ", frame.RawTailWords));
|
||||
lastLoggedFrame = frame;
|
||||
}
|
||||
else if (frameCount % 1000 == 0)
|
||||
{
|
||||
_logger?.LogDebug("StateClient 已接收 {Count} 个状态帧", frameCount);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -367,6 +412,8 @@ public sealed class FanucStateClient : IDisposable
|
||||
var tcpClient = new TcpClient { NoDelay = true };
|
||||
try
|
||||
{
|
||||
_logger?.LogInformation("StateClient 正在连接 {Ip}:{Port}...", ip, port);
|
||||
|
||||
using var timeoutCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
|
||||
timeoutCts.CancelAfter(_options.ConnectTimeout);
|
||||
await tcpClient.ConnectAsync(ip, port, timeoutCts.Token).ConfigureAwait(false);
|
||||
@@ -378,14 +425,18 @@ public sealed class FanucStateClient : IDisposable
|
||||
_lastConnectedAt = DateTimeOffset.UtcNow;
|
||||
_connectionState = FanucStateConnectionState.Connected;
|
||||
}
|
||||
|
||||
_logger?.LogInformation("StateClient 已连接到 {Ip}:{Port}", ip, port);
|
||||
}
|
||||
catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
_logger?.LogWarning("StateClient 连接 {Ip}:{Port} 超时", ip, port);
|
||||
tcpClient.Dispose();
|
||||
throw new TimeoutException("状态通道建连超时。");
|
||||
}
|
||||
catch
|
||||
catch (Exception ex)
|
||||
{
|
||||
_logger?.LogWarning(ex, "StateClient 连接 {Ip}:{Port} 失败", ip, port);
|
||||
tcpClient.Dispose();
|
||||
throw;
|
||||
}
|
||||
@@ -409,6 +460,12 @@ public sealed class FanucStateClient : IDisposable
|
||||
_connectionState = FanucStateConnectionState.Reconnecting;
|
||||
}
|
||||
|
||||
_logger?.LogInformation(
|
||||
"StateClient 将在 {Delay}ms 后尝试重连 {Ip}:{Port}...",
|
||||
nextDelay.TotalMilliseconds,
|
||||
ip,
|
||||
port);
|
||||
|
||||
await Task.Delay(nextDelay, cancellationToken).ConfigureAwait(false);
|
||||
|
||||
lock (_stateLock)
|
||||
@@ -419,6 +476,11 @@ public sealed class FanucStateClient : IDisposable
|
||||
try
|
||||
{
|
||||
await OpenConnectionAsync(ip, port, cancellationToken).ConfigureAwait(false);
|
||||
_logger?.LogInformation(
|
||||
"StateClient 重连成功: {Ip}:{Port}, 累计重连次数={Count}",
|
||||
ip,
|
||||
port,
|
||||
_reconnectAttemptCount);
|
||||
return _options.ReconnectInitialDelay;
|
||||
}
|
||||
catch (OperationCanceledException) when (cancellationToken.IsCancellationRequested)
|
||||
@@ -434,6 +496,13 @@ public sealed class FanucStateClient : IDisposable
|
||||
_lastErrorMessage = ex.Message;
|
||||
}
|
||||
|
||||
_logger?.LogWarning(
|
||||
ex,
|
||||
"StateClient 重连失败: {Ip}:{Port}, 下次等待={NextDelay}ms",
|
||||
ip,
|
||||
port,
|
||||
nextDelay.TotalMilliseconds * 2);
|
||||
|
||||
nextDelay = IncreaseReconnectDelay(nextDelay);
|
||||
}
|
||||
}
|
||||
@@ -470,6 +539,8 @@ public sealed class FanucStateClient : IDisposable
|
||||
_connectionState = state;
|
||||
_lastErrorMessage = message;
|
||||
}
|
||||
|
||||
_logger?.LogWarning("StateClient 接收失败: state={State}, message={Message}", state, message);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@@ -9,7 +9,7 @@ public sealed class FanucStateFrame
|
||||
{
|
||||
private readonly double[] _pose;
|
||||
private readonly double[] _jointOrExtensionValues;
|
||||
private readonly double[] _jointDegrees;
|
||||
private readonly double[] _jointRadians;
|
||||
private readonly double[] _externalAxes;
|
||||
private readonly uint[] _tailWords;
|
||||
|
||||
@@ -46,7 +46,7 @@ public sealed class FanucStateFrame
|
||||
throw new ArgumentException("状态帧尾部状态字必须包含 4 个 u32。", nameof(tailWords));
|
||||
}
|
||||
|
||||
_jointDegrees = _jointOrExtensionValues.Take(6).ToArray();
|
||||
_jointRadians = _jointOrExtensionValues.Take(6).ToArray();
|
||||
_externalAxes = _jointOrExtensionValues.Skip(6).ToArray();
|
||||
}
|
||||
|
||||
@@ -71,9 +71,9 @@ public sealed class FanucStateFrame
|
||||
public IReadOnlyList<double> JointOrExtensionValues => _jointOrExtensionValues;
|
||||
|
||||
/// <summary>
|
||||
/// 获取前 6 个机器人关节角度，单位为度。
|
||||
/// 获取前 6 个机器人关节角度，当前现场抓包更支持按弧度制理解。
|
||||
/// </summary>
|
||||
public IReadOnlyList<double> JointDegrees => _jointDegrees;
|
||||
public IReadOnlyList<double> JointRadians => _jointRadians;
|
||||
|
||||
/// <summary>
|
||||
/// 获取后 3 个扩展轴槽位。当前现场样本中这些值通常为 0。
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -12,14 +12,17 @@ namespace Flyshot.Server.Host.Controllers;
|
||||
public sealed class LegacyHttpApiController : ControllerBase
|
||||
{
|
||||
private readonly IControllerClientCompatService _compatService;
|
||||
private readonly ILogger<LegacyHttpApiController> _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化旧 HTTP 兼容控制器。
|
||||
/// </summary>
|
||||
/// <param name="compatService">ControllerClient 兼容服务。</param>
|
||||
public LegacyHttpApiController(IControllerClientCompatService compatService)
|
||||
/// <param name="logger">日志记录器。</param>
|
||||
public LegacyHttpApiController(IControllerClientCompatService compatService, ILogger<LegacyHttpApiController> logger)
|
||||
{
|
||||
_compatService = compatService ?? throw new ArgumentNullException(nameof(compatService));
|
||||
_logger = logger ?? throw new ArgumentNullException(nameof(logger));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -41,13 +44,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/connect_server/")]
|
||||
public IActionResult ConnectServer([FromQuery] string server_ip, [FromQuery] int port)
|
||||
{
|
||||
_logger.LogInformation("ConnectServer 调用: server_ip={ServerIp}, port={Port}", server_ip, port);
|
||||
try
|
||||
{
|
||||
_compatService.ConnectServer(server_ip, port);
|
||||
_logger.LogInformation("ConnectServer 成功: server_ip={ServerIp}, port={Port}", server_ip, port);
|
||||
return Ok(new { status = "connected" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "ConnectServer 失败: server_ip={ServerIp}, port={Port}", server_ip, port);
|
||||
return LegacyBadRequest("Connect Server failed");
|
||||
}
|
||||
}
|
||||
@@ -80,13 +86,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/setup_robot/")]
|
||||
public IActionResult SetupRobot([FromQuery] string robot_name)
|
||||
{
|
||||
_logger.LogInformation("SetupRobot 调用: robot_name={RobotName}", robot_name);
|
||||
try
|
||||
{
|
||||
_compatService.SetUpRobot(robot_name);
|
||||
_logger.LogInformation("SetupRobot 成功: robot_name={RobotName}", robot_name);
|
||||
return Ok(new { status = "robot setup" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "SetupRobot 失败: robot_name={RobotName}", robot_name);
|
||||
return LegacyBadRequest("SetUpRobot failed");
|
||||
}
|
||||
}
|
||||
@@ -145,20 +154,23 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 兼容旧 `EnableRobot(buffer_size=2)` 参数形状。
|
||||
/// 兼容旧 `EnableRobot(buffer_size=4)` 参数形状。
|
||||
/// </summary>
|
||||
/// <param name="buffer_size">控制器执行缓冲区大小。</param>
|
||||
/// <returns>旧 FastAPI 层风格的布尔状态响应。</returns>
|
||||
[HttpGet("/enable_robot/")]
|
||||
public IActionResult EnableRobot([FromQuery] int buffer_size = 2)
|
||||
public IActionResult EnableRobot([FromQuery] int buffer_size = 4)
|
||||
{
|
||||
_logger.LogInformation("EnableRobot 调用: buffer_size={BufferSize}", buffer_size);
|
||||
try
|
||||
{
|
||||
_compatService.EnableRobot(buffer_size);
|
||||
_logger.LogInformation("EnableRobot 成功");
|
||||
return Ok(new { enable_robot = true });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "EnableRobot 失败");
|
||||
return LegacyBadRequest("EnableRobot failed");
|
||||
}
|
||||
}
|
||||
@@ -170,13 +182,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpGet("/disable_robot/")]
|
||||
public IActionResult DisableRobot()
|
||||
{
|
||||
_logger.LogInformation("DisableRobot 调用");
|
||||
try
|
||||
{
|
||||
_compatService.DisableRobot();
|
||||
_logger.LogInformation("DisableRobot 成功");
|
||||
return Ok(new { disable_robot = true });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "DisableRobot 失败");
|
||||
return LegacyBadRequest("DisableRobot failed");
|
||||
}
|
||||
}
|
||||
@@ -188,13 +203,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpGet("/stop_move/")]
|
||||
public IActionResult StopMove()
|
||||
{
|
||||
_logger.LogInformation("StopMove 调用");
|
||||
try
|
||||
{
|
||||
_compatService.StopMove();
|
||||
_logger.LogInformation("StopMove 成功");
|
||||
return Ok(new { status = "move stopped" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "StopMove 失败");
|
||||
return LegacyBadRequest("StopMove failed");
|
||||
}
|
||||
}
|
||||
@@ -207,13 +225,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/set_active_controller/")]
|
||||
public IActionResult SetActiveController([FromQuery] bool sim)
|
||||
{
|
||||
_logger.LogInformation("SetActiveController 调用: sim={Sim}", sim);
|
||||
try
|
||||
{
|
||||
_compatService.SetActiveController(sim);
|
||||
_logger.LogInformation("SetActiveController 成功: sim={Sim}", sim);
|
||||
return Ok(new { status = "active controller set" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "SetActiveController 失败: sim={Sim}", sim);
|
||||
return LegacyBadRequest("SetActiveController failed");
|
||||
}
|
||||
}
|
||||
@@ -226,13 +247,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/connect_robot/")]
|
||||
public IActionResult ConnectRobot([FromQuery] string ip)
|
||||
{
|
||||
_logger.LogInformation("ConnectRobot 调用: ip={Ip}", ip);
|
||||
try
|
||||
{
|
||||
_compatService.Connect(ip);
|
||||
_logger.LogInformation("ConnectRobot 成功: ip={Ip}", ip);
|
||||
return Ok(new { status = "robot connected" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "ConnectRobot 失败: ip={Ip}", ip);
|
||||
return LegacyBadRequest("Connect failed");
|
||||
}
|
||||
}
|
||||
@@ -244,13 +268,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/disconnect_robot/")]
|
||||
public IActionResult DisconnectRobot()
|
||||
{
|
||||
_logger.LogInformation("DisconnectRobot 调用");
|
||||
try
|
||||
{
|
||||
_compatService.Disconnect();
|
||||
_logger.LogInformation("DisconnectRobot 成功");
|
||||
return Ok(new { status = "robot disconnected" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "DisconnectRobot 失败");
|
||||
return LegacyBadRequest("Disconnect failed");
|
||||
}
|
||||
}
|
||||
@@ -286,13 +313,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/set_tcp/")]
|
||||
public IActionResult SetTcp([FromBody] LegacyTcpRequest tcp_data)
|
||||
{
|
||||
_logger.LogInformation("SetTcp 调用: x={X}, y={Y}, z={Z}", tcp_data.x, tcp_data.y, tcp_data.z);
|
||||
try
|
||||
{
|
||||
_compatService.SetTcp(tcp_data.x, tcp_data.y, tcp_data.z);
|
||||
_logger.LogInformation("SetTcp 成功");
|
||||
return Ok(new { status = "TCP set" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "SetTcp 失败");
|
||||
return LegacyBadRequest("SetTCP failed");
|
||||
}
|
||||
}
|
||||
@@ -324,13 +354,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/set_io/")]
|
||||
public IActionResult SetIo([FromQuery] int port, [FromQuery] bool value, [FromQuery] string io_type)
|
||||
{
|
||||
_logger.LogInformation("SetIo 调用: port={Port}, value={Value}, io_type={IoType}", port, value, io_type);
|
||||
try
|
||||
{
|
||||
_compatService.SetIo(port, value, io_type);
|
||||
_logger.LogInformation("SetIo 成功: port={Port}, value={Value}", port, value);
|
||||
return Ok(new { status = "IO set" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "SetIo 失败: port={Port}, value={Value}", port, value);
|
||||
return LegacyBadRequest("SetDigitalOutput failed");
|
||||
}
|
||||
}
|
||||
@@ -344,12 +377,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpGet("/get_io/")]
|
||||
public IActionResult GetIo([FromQuery] int port, [FromQuery] string io_type)
|
||||
{
|
||||
_logger.LogInformation("GetIo 调用: port={Port}, io_type={IoType}", port, io_type);
|
||||
try
|
||||
{
|
||||
return Ok(new { value = _compatService.GetIo(port, io_type) });
|
||||
var value = _compatService.GetIo(port, io_type);
|
||||
_logger.LogInformation("GetIo 成功: port={Port}, value={Value}", port, value);
|
||||
return Ok(new { value });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "GetIo 失败: port={Port}", port);
|
||||
return LegacyBadRequest("GetDigitalOutput failed");
|
||||
}
|
||||
}
|
||||
@@ -379,13 +416,17 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/move_joint/")]
|
||||
public IActionResult MoveJoint([FromBody] LegacyJointPositionRequest joint_data)
|
||||
{
|
||||
_logger.LogInformation("MoveJoint 调用: 关节数={JointCount}", joint_data.joints.Count);
|
||||
_logger.LogDebug("MoveJoint 路点: {Joints}", string.Join(", ", joint_data.joints.Select(j => j.ToString("F4"))));
|
||||
try
|
||||
{
|
||||
_compatService.MoveJoint(joint_data.joints);
|
||||
_logger.LogInformation("MoveJoint 成功");
|
||||
return Ok(new { status = "robot moved" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "MoveJoint 失败");
|
||||
return LegacyBadRequest("MoveJoint failed");
|
||||
}
|
||||
}
|
||||
@@ -441,16 +482,20 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[FromQuery] string? method = null,
|
||||
[FromQuery] bool? save_traj = null)
|
||||
{
|
||||
_logger.LogInformation("ExecuteTrajectory 调用: method={Method}, save_traj={SaveTraj}", method ?? "icsp", save_traj ?? false);
|
||||
try
|
||||
{
|
||||
var request = ParseExecuteTrajectoryRequest(waypoints, method, save_traj);
|
||||
_logger.LogDebug("ExecuteTrajectory 路点数={WaypointCount}, method={Method}", request.Waypoints.Count, request.Method);
|
||||
_compatService.ExecuteTrajectory(
|
||||
request.Waypoints,
|
||||
new TrajectoryExecutionOptions(request.Method, request.SaveTrajectory));
|
||||
_logger.LogInformation("ExecuteTrajectory 成功: method={Method}", request.Method);
|
||||
return Ok(new { status = "trajectory executed" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "ExecuteTrajectory 失败");
|
||||
return LegacyBadRequest("ExecuteTrajectory failed");
|
||||
}
|
||||
}
|
||||
@@ -463,18 +508,30 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/upload_flyshot/")]
|
||||
public IActionResult UploadFlyshot([FromBody] LegacyFlightTrajectoryRequest trajectory_data)
|
||||
{
|
||||
_logger.LogInformation(
|
||||
"UploadFlyshot 调用: name={Name}, waypoints={WaypointCount}, shot_flags={ShotCount}",
|
||||
trajectory_data.name,
|
||||
trajectory_data.waypoints.Count,
|
||||
trajectory_data.shot_flags.Count(static f => f));
|
||||
|
||||
if (trajectory_data.shot_flags.Count != trajectory_data.waypoints.Count)
|
||||
{
|
||||
_logger.LogWarning("UploadFlyshot 校验失败: shot_flags长度({ShotFlagsCount}) != 路点数({WaypointCount})",
|
||||
trajectory_data.shot_flags.Count, trajectory_data.waypoints.Count);
|
||||
return LegacyValidationError("shot_flags长度必须与路点数量相同");
|
||||
}
|
||||
|
||||
if (trajectory_data.offset_values.Count != trajectory_data.waypoints.Count)
|
||||
{
|
||||
_logger.LogWarning("UploadFlyshot 校验失败: offset_values长度({OffsetCount}) != 路点数({WaypointCount})",
|
||||
trajectory_data.offset_values.Count, trajectory_data.waypoints.Count);
|
||||
return LegacyValidationError("offset_values长度必须与路点数量相同");
|
||||
}
|
||||
|
||||
if (trajectory_data.addrs.Count != trajectory_data.waypoints.Count)
|
||||
{
|
||||
_logger.LogWarning("UploadFlyshot 校验失败: addrs长度({AddrCount}) != 路点数({WaypointCount})",
|
||||
trajectory_data.addrs.Count, trajectory_data.waypoints.Count);
|
||||
return LegacyValidationError("addrs长度必须与路点数量相同");
|
||||
}
|
||||
|
||||
@@ -488,10 +545,12 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
addressGroups: trajectory_data.addrs);
|
||||
|
||||
_compatService.UploadTrajectory(trajectory);
|
||||
_logger.LogInformation("UploadFlyshot 成功: name={Name}", trajectory_data.name);
|
||||
return Ok(new { status = "FlyShot uploaded" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "UploadFlyshot 失败: name={Name}", trajectory_data.name);
|
||||
return LegacyBadRequest("UploadFlyShotTraj failed");
|
||||
}
|
||||
}
|
||||
@@ -504,6 +563,9 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/execute_flyshot/")]
|
||||
public IActionResult ExecuteFlyshot([FromBody] LegacyExecuteFlyshotRequest data)
|
||||
{
|
||||
_logger.LogInformation(
|
||||
"ExecuteFlyshot 调用: name={Name}, method={Method}, move_to_start={MoveToStart}, use_cache={UseCache}, wait={Wait}",
|
||||
data.name, data.method, data.move_to_start, data.use_cache, data.wait);
|
||||
try
|
||||
{
|
||||
_compatService.ExecuteTrajectoryByName(
|
||||
@@ -512,11 +574,14 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
moveToStart: data.move_to_start,
|
||||
method: data.method,
|
||||
saveTrajectory: data.save_traj,
|
||||
useCache: data.use_cache));
|
||||
useCache: data.use_cache,
|
||||
wait: data.wait));
|
||||
_logger.LogInformation("ExecuteFlyshot 成功: name={Name}", data.name);
|
||||
return Ok(new { status = "FlyShot executed", success = true });
|
||||
}
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "ExecuteFlyshot 失败: name={Name}", data.name);
|
||||
return StatusCode(StatusCodes.Status500InternalServerError, new { detail = exception.Message });
|
||||
}
|
||||
}
|
||||
@@ -529,17 +594,21 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/save_traj_info/")]
|
||||
public IActionResult SaveTrajectoryInfo([FromBody] LegacyTrajectoryInfoRequest request)
|
||||
{
|
||||
_logger.LogInformation("SaveTrajectoryInfo 调用: name={Name}, method={Method}", request.name, request.method);
|
||||
try
|
||||
{
|
||||
_compatService.SaveTrajectoryInfo(request.name, request.method);
|
||||
_logger.LogInformation("SaveTrajectoryInfo 成功: name={Name}", request.name);
|
||||
return Ok(new { status = "trajectory info saved", success = true });
|
||||
}
|
||||
catch (NotSupportedException exception)
|
||||
{
|
||||
_logger.LogWarning(exception, "SaveTrajectoryInfo 不支持: name={Name}", request.name);
|
||||
return StatusCode(StatusCodes.Status501NotImplemented, new { detail = exception.Message });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "SaveTrajectoryInfo 失败: name={Name}", request.name);
|
||||
return LegacyBadRequest("SaveTrajInfo failed");
|
||||
}
|
||||
}
|
||||
@@ -552,6 +621,7 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/is_flyShotTrajValid/")]
|
||||
public IActionResult IsFlyshotTrajectoryValid([FromBody] LegacyFlyshotValidationRequest request)
|
||||
{
|
||||
_logger.LogInformation("IsFlyshotTrajectoryValid 调用: name={Name}, method={Method}", request.name, request.method);
|
||||
try
|
||||
{
|
||||
var isValid = _compatService.IsFlyshotTrajectoryValid(
|
||||
@@ -560,14 +630,17 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
request.method,
|
||||
request.save_traj);
|
||||
|
||||
_logger.LogInformation("IsFlyshotTrajectoryValid 结果: name={Name}, valid={Valid}, duration={Duration}s", request.name, isValid, duration.TotalSeconds);
|
||||
return Ok(new { success = isValid, valid = isValid, time = duration.TotalSeconds });
|
||||
}
|
||||
catch (NotSupportedException exception)
|
||||
{
|
||||
_logger.LogWarning(exception, "IsFlyshotTrajectoryValid 不支持: name={Name}", request.name);
|
||||
return StatusCode(StatusCodes.Status501NotImplemented, new { detail = exception.Message });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "IsFlyshotTrajectoryValid 失败: name={Name}", request.name);
|
||||
return LegacyBadRequest("IsFlyShotTrajValid failed");
|
||||
}
|
||||
}
|
||||
@@ -580,13 +653,23 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/set_speedRatio/")]
|
||||
public IActionResult SetSpeedRatio([FromBody] LegacySpeedRatioRequest data)
|
||||
{
|
||||
_logger.LogInformation("SetSpeedRatio 调用: speed={Speed}", data.speed);
|
||||
try
|
||||
{
|
||||
// 验证数值 范围符合预期（例如 0.01到 1.0），以避免对控制器造成潜在风险
|
||||
if (data.speed < 0.01 || data.speed > 1.0)
|
||||
{
|
||||
_logger.LogWarning("SetSpeedRatio 参数无效: speed={Speed}", data.speed);
|
||||
return BadRequest(new { detail = "Speed ratio must be between 0.01 and 1.0." });
|
||||
}
|
||||
|
||||
_compatService.SetSpeedRatio(data.speed);
|
||||
_logger.LogInformation("SetSpeedRatio 成功: speed={Speed}", data.speed);
|
||||
return Ok(new { message = "set_speedRatio executed", returnCode = 0 });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "SetSpeedRatio 失败: speed={Speed}", data.speed);
|
||||
return LegacyBadRequest("set_speedRatio failed");
|
||||
}
|
||||
}
|
||||
@@ -599,13 +682,16 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/delete_flyshot/")]
|
||||
public IActionResult DeleteFlyshot([FromBody] LegacyNameRequest request)
|
||||
{
|
||||
_logger.LogInformation("DeleteFlyshot 调用: name={Name}", request.name);
|
||||
try
|
||||
{
|
||||
_compatService.DeleteTrajectory(request.name);
|
||||
_logger.LogInformation("DeleteFlyshot 成功: name={Name}", request.name);
|
||||
return Ok(new { status = "FlyShot deleted" });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "DeleteFlyshot 失败: name={Name}", request.name);
|
||||
return LegacyBadRequest("DeleteFlyShotTraj failed");
|
||||
}
|
||||
}
|
||||
@@ -618,22 +704,28 @@ public sealed class LegacyHttpApiController : ControllerBase
|
||||
[HttpPost("/init_mpc_robt")]
|
||||
public IActionResult InitMpcRobot([FromBody] LegacyInitMpcRobotRequest data)
|
||||
{
|
||||
_logger.LogInformation(
|
||||
"InitMpcRobot 调用: robot_name={RobotName}, robot_ip={RobotIp}, sim={Sim}, server={ServerIp}:{Port}",
|
||||
data.robot_name, data.robot_ip, data.sim, data.server_ip, data.port);
|
||||
try
|
||||
{
|
||||
_compatService.ConnectServer(data.server_ip, data.port);
|
||||
|
||||
_compatService.SetUpRobot(data.robot_name);
|
||||
if (!_compatService.IsSetUp)
|
||||
{
|
||||
_logger.LogWarning("InitMpcRobot 失败: Robot not setup");
|
||||
return LegacyBadRequest("Robot not setup");
|
||||
}
|
||||
|
||||
_compatService.SetActiveController(data.sim);
|
||||
_compatService.Connect(data.robot_ip);
|
||||
_compatService.EnableRobot(2);
|
||||
_compatService.EnableRobot(8);
|
||||
_logger.LogInformation("InitMpcRobot 成功: robot_name={RobotName}", data.robot_name);
|
||||
return Ok(new { message = "init_Success", returnCode = 0 });
|
||||
}
|
||||
catch
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(exception, "InitMpcRobot 失败");
|
||||
return LegacyBadRequest("Connect Server failed");
|
||||
}
|
||||
}
|
||||
@@ -853,6 +945,11 @@ public sealed class LegacyExecuteFlyshotRequest
|
||||
/// 获取或设置是否复用轨迹缓存。
|
||||
/// </summary>
|
||||
public bool use_cache { get; init; } = true;
|
||||
|
||||
/// <summary>
|
||||
/// 获取或设置是否等待机器人执行完整条飞拍轨迹后再返回。
|
||||
/// </summary>
|
||||
public bool wait { get; init; } = true;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@@ -4,363 +4,12 @@ using Microsoft.AspNetCore.Mvc;
|
||||
namespace Flyshot.Server.Host.Controllers;
|
||||
|
||||
/// <summary>
|
||||
/// 提供只读状态监控页面和控制器状态快照 API。
|
||||
/// 提供控制器状态快照 API，状态监控页面由 wwwroot 静态资源承载。
|
||||
/// </summary>
|
||||
[ApiController]
|
||||
[Tags("基础与状态")]
|
||||
public sealed class StatusController : ControllerBase
|
||||
{
|
||||
/// <summary>
|
||||
/// 浏览器端状态监控页面，页面逻辑只读取状态快照，不触发控制动作。
|
||||
/// </summary>
|
||||
private const string StatusPageHtml = """
|
||||
<!doctype html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<title>Flyshot Replacement 状态监控</title>
|
||||
<style>
|
||||
:root {
|
||||
color-scheme: light;
|
||||
--bg: #f5f7fb;
|
||||
--surface: #ffffff;
|
||||
--line: #d8dee9;
|
||||
--text: #172033;
|
||||
--muted: #5b667a;
|
||||
--accent: #007c89;
|
||||
--good: #12805c;
|
||||
--warn: #b7791f;
|
||||
--bad: #b42318;
|
||||
}
|
||||
|
||||
* {
|
||||
box-sizing: border-box;
|
||||
}
|
||||
|
||||
body {
|
||||
margin: 0;
|
||||
min-height: 100vh;
|
||||
background: var(--bg);
|
||||
color: var(--text);
|
||||
font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif;
|
||||
font-size: 15px;
|
||||
letter-spacing: 0;
|
||||
}
|
||||
|
||||
header {
|
||||
border-bottom: 1px solid var(--line);
|
||||
background: var(--surface);
|
||||
}
|
||||
|
||||
.topbar {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
gap: 16px;
|
||||
width: min(1180px, calc(100% - 32px));
|
||||
margin: 0 auto;
|
||||
padding: 18px 0;
|
||||
}
|
||||
|
||||
h1 {
|
||||
margin: 0;
|
||||
font-size: 22px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
button {
|
||||
min-height: 36px;
|
||||
padding: 0 14px;
|
||||
border: 1px solid var(--accent);
|
||||
border-radius: 6px;
|
||||
background: var(--accent);
|
||||
color: #ffffff;
|
||||
font: inherit;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
button:disabled {
|
||||
opacity: 0.6;
|
||||
cursor: default;
|
||||
}
|
||||
|
||||
/* 顶部操作区按钮和外链按钮共用同一组视觉样式，便于现场顺手跳转。 */
|
||||
.actions {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 10px;
|
||||
}
|
||||
|
||||
.link-button {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
min-height: 36px;
|
||||
padding: 0 14px;
|
||||
border: 1px solid var(--accent);
|
||||
border-radius: 6px;
|
||||
background: transparent;
|
||||
color: var(--accent);
|
||||
font: inherit;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.link-button:hover {
|
||||
background: rgba(0, 124, 137, 0.08);
|
||||
}
|
||||
|
||||
main {
|
||||
width: min(1180px, calc(100% - 32px));
|
||||
margin: 22px auto;
|
||||
}
|
||||
|
||||
.summary {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(4, minmax(0, 1fr));
|
||||
gap: 12px;
|
||||
margin-bottom: 16px;
|
||||
}
|
||||
|
||||
.metric,
|
||||
section {
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 8px;
|
||||
background: var(--surface);
|
||||
}
|
||||
|
||||
.metric {
|
||||
min-height: 86px;
|
||||
padding: 14px;
|
||||
}
|
||||
|
||||
.label {
|
||||
color: var(--muted);
|
||||
font-size: 13px;
|
||||
}
|
||||
|
||||
.value {
|
||||
margin-top: 8px;
|
||||
overflow-wrap: anywhere;
|
||||
font-size: 24px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.status-row {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 8px;
|
||||
}
|
||||
|
||||
.dot {
|
||||
width: 12px;
|
||||
height: 12px;
|
||||
flex: 0 0 12px;
|
||||
border-radius: 999px;
|
||||
background: var(--warn);
|
||||
}
|
||||
|
||||
.dot.good {
|
||||
background: var(--good);
|
||||
}
|
||||
|
||||
.dot.bad {
|
||||
background: var(--bad);
|
||||
}
|
||||
|
||||
.grid {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(2, minmax(0, 1fr));
|
||||
gap: 16px;
|
||||
}
|
||||
|
||||
section h2 {
|
||||
margin: 0;
|
||||
padding: 14px 16px;
|
||||
border-bottom: 1px solid var(--line);
|
||||
font-size: 16px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
dl {
|
||||
display: grid;
|
||||
grid-template-columns: 160px minmax(0, 1fr);
|
||||
gap: 0;
|
||||
margin: 0;
|
||||
padding: 4px 16px 12px;
|
||||
}
|
||||
|
||||
dt,
|
||||
dd {
|
||||
min-height: 36px;
|
||||
margin: 0;
|
||||
padding: 9px 0;
|
||||
border-bottom: 1px solid #edf1f7;
|
||||
}
|
||||
|
||||
dt {
|
||||
color: var(--muted);
|
||||
}
|
||||
|
||||
dd {
|
||||
overflow-wrap: anywhere;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
}
|
||||
|
||||
.empty {
|
||||
color: var(--muted);
|
||||
font-family: inherit;
|
||||
}
|
||||
|
||||
@media (max-width: 820px) {
|
||||
.topbar {
|
||||
align-items: flex-start;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
.summary,
|
||||
.grid {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
|
||||
dl {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
|
||||
dt {
|
||||
border-bottom: 0;
|
||||
padding-bottom: 2px;
|
||||
}
|
||||
|
||||
dd {
|
||||
padding-top: 2px;
|
||||
}
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<header>
|
||||
<div class="topbar">
|
||||
<h1>Flyshot Replacement 状态监控</h1>
|
||||
<div class="actions">
|
||||
<a class="link-button" href="/debug" target="_blank" rel="noopener">调试接口</a>
|
||||
<button id="refresh" type="button">刷新</button>
|
||||
</div>
|
||||
</div>
|
||||
</header>
|
||||
<main>
|
||||
<div class="summary">
|
||||
<div class="metric">
|
||||
<div class="label">连接状态</div>
|
||||
<div class="value status-row"><span id="state-dot" class="dot"></span><span id="connection-state">--</span></div>
|
||||
</div>
|
||||
<div class="metric">
|
||||
<div class="label">机器人</div>
|
||||
<div id="robot-name" class="value">--</div>
|
||||
</div>
|
||||
<div class="metric">
|
||||
<div class="label">速度倍率</div>
|
||||
<div id="speed-ratio" class="value">--</div>
|
||||
</div>
|
||||
<div class="metric">
|
||||
<div class="label">运动中</div>
|
||||
<div id="motion-state" class="value">--</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid">
|
||||
<section>
|
||||
<h2>控制器</h2>
|
||||
<dl>
|
||||
<dt>服务端版本</dt><dd id="server-version">--</dd>
|
||||
<dt>客户端版本</dt><dd id="client-version">--</dd>
|
||||
<dt>已初始化</dt><dd id="setup-state">--</dd>
|
||||
<dt>已使能</dt><dd id="enabled-state">--</dd>
|
||||
<dt>采样时间</dt><dd id="captured-at">--</dd>
|
||||
</dl>
|
||||
</section>
|
||||
<section>
|
||||
<h2>机器人</h2>
|
||||
<dl>
|
||||
<dt>自由度</dt><dd id="dof">--</dd>
|
||||
<dt>关节位置</dt><dd id="joints">--</dd>
|
||||
<dt>TCP 位姿</dt><dd id="pose">--</dd>
|
||||
<dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</div>
|
||||
</main>
|
||||
<script>
|
||||
const fields = {
|
||||
connectionState: document.getElementById("connection-state"),
|
||||
stateDot: document.getElementById("state-dot"),
|
||||
robotName: document.getElementById("robot-name"),
|
||||
speedRatio: document.getElementById("speed-ratio"),
|
||||
motionState: document.getElementById("motion-state"),
|
||||
serverVersion: document.getElementById("server-version"),
|
||||
clientVersion: document.getElementById("client-version"),
|
||||
setupState: document.getElementById("setup-state"),
|
||||
enabledState: document.getElementById("enabled-state"),
|
||||
capturedAt: document.getElementById("captured-at"),
|
||||
dof: document.getElementById("dof"),
|
||||
joints: document.getElementById("joints"),
|
||||
pose: document.getElementById("pose"),
|
||||
trajectories: document.getElementById("trajectories"),
|
||||
refresh: document.getElementById("refresh")
|
||||
};
|
||||
|
||||
function formatArray(values) {
|
||||
if (!Array.isArray(values) || values.length === 0) {
|
||||
return "--";
|
||||
}
|
||||
|
||||
return values.map(value => Number(value).toFixed(4)).join(", ");
|
||||
}
|
||||
|
||||
function setDot(connectionState) {
|
||||
fields.stateDot.className = "dot";
|
||||
if (connectionState === "Connected") {
|
||||
fields.stateDot.classList.add("good");
|
||||
} else if (connectionState === "NotConfigured") {
|
||||
fields.stateDot.classList.add("bad");
|
||||
}
|
||||
}
|
||||
|
||||
async function refreshStatus() {
|
||||
fields.refresh.disabled = true;
|
||||
try {
|
||||
const response = await fetch("/api/status/snapshot", { cache: "no-store" });
|
||||
const payload = await response.json();
|
||||
const snapshot = payload.snapshot;
|
||||
|
||||
fields.connectionState.textContent = snapshot.connectionState;
|
||||
fields.robotName.textContent = payload.robotName || "--";
|
||||
fields.speedRatio.textContent = Number(snapshot.speedRatio).toFixed(2);
|
||||
fields.motionState.textContent = snapshot.isInMotion ? "是" : "否";
|
||||
fields.serverVersion.textContent = payload.serverVersion;
|
||||
fields.clientVersion.textContent = payload.clientVersion;
|
||||
fields.setupState.textContent = payload.isSetup ? "是" : "否";
|
||||
fields.enabledState.textContent = snapshot.isEnabled ? "是" : "否";
|
||||
fields.capturedAt.textContent = new Date(snapshot.capturedAt).toLocaleString();
|
||||
fields.dof.textContent = payload.degreesOfFreedom;
|
||||
fields.joints.textContent = formatArray(snapshot.jointPositions);
|
||||
fields.pose.textContent = formatArray(snapshot.cartesianPose);
|
||||
fields.trajectories.textContent = payload.uploadedTrajectories.length > 0
|
||||
? payload.uploadedTrajectories.join(", ")
|
||||
: "--";
|
||||
fields.trajectories.classList.toggle("empty", payload.uploadedTrajectories.length === 0);
|
||||
setDot(snapshot.connectionState);
|
||||
} finally {
|
||||
fields.refresh.disabled = false;
|
||||
}
|
||||
}
|
||||
|
||||
fields.refresh.addEventListener("click", refreshStatus);
|
||||
refreshStatus();
|
||||
window.setInterval(refreshStatus, 2000);
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
""";
|
||||
|
||||
private readonly IControllerClientCompatService _compatService;
|
||||
|
||||
/// <summary>
|
||||
@@ -373,13 +22,23 @@ public sealed class StatusController : ControllerBase
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 返回浏览器可直接打开的状态监控页面。
|
||||
/// 提供短路由 `/status`，跳转到静态状态页。
|
||||
/// </summary>
|
||||
/// <returns>HTML 状态页面。</returns>
|
||||
/// <returns>重定向到 <c>/status.html</c>。</returns>
|
||||
[HttpGet("/status")]
|
||||
public ContentResult GetStatusPage()
|
||||
public IActionResult StatusPage()
|
||||
{
|
||||
return Content(StatusPageHtml, "text/html; charset=utf-8");
|
||||
return Redirect("/status.html");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 提供短路由 `/debug`，跳转到静态调试页。
|
||||
/// </summary>
|
||||
/// <returns>重定向到 <c>/debug.html</c>。</returns>
|
||||
[HttpGet("/debug")]
|
||||
public IActionResult DebugPage()
|
||||
{
|
||||
return Redirect("/debug.html");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@@ -7,9 +7,22 @@
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="NLog.Web.AspNetCore" Version="5.3.11" />
|
||||
<PackageReference Include="Swashbuckle.AspNetCore" Version="6.6.2" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<!-- 运行时需要把仓库根目录的 NLog.config 带到 Host 输出目录，确保控制台和文件日志目标生效。 -->
|
||||
<Content Include="..\..\NLog.config" Link="NLog.config" CopyToOutputDirectory="PreserveNewest" />
|
||||
<!-- 运行时配置根目录固定为输出目录 Config，调试和发布都复制仓库内固化配置。 -->
|
||||
<Content Include="..\..\Config\**\*" Link="Config\%(RecursiveDir)%(Filename)%(Extension)" CopyToOutputDirectory="PreserveNewest" CopyToPublishDirectory="PreserveNewest" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<!-- 让静态调试页在构建和发布时都物理复制到输出目录，避免运行时只依赖源码树中的 wwwroot。 -->
|
||||
<Content Update="wwwroot\**\*" CopyToOutputDirectory="PreserveNewest" CopyToPublishDirectory="PreserveNewest" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
|
||||
<ProjectReference Include="..\Flyshot.ControllerClientCompat\Flyshot.ControllerClientCompat.csproj" />
|
||||
|
||||
@@ -0,0 +1,172 @@
|
||||
using System.Diagnostics;
|
||||
using System.Text;
|
||||
|
||||
namespace Flyshot.Server.Host.Middleware;
|
||||
|
||||
/// <summary>
|
||||
/// HTTP 请求与响应日志中间件。
|
||||
/// 记录每个 HTTP 请求的进入时间、方法、路径、查询串、请求体，
|
||||
/// 以及响应的状态码、耗时和响应体（调试级别）。
|
||||
/// </summary>
|
||||
public sealed class RequestResponseLoggingMiddleware
|
||||
{
|
||||
private readonly RequestDelegate _next;
|
||||
private readonly ILogger<RequestResponseLoggingMiddleware> _logger;
|
||||
|
||||
/// <summary>
|
||||
/// 请求体最大日志长度，超出则截断并附加省略标记。
|
||||
/// </summary>
|
||||
private const int MaxBodyLogLength = 4096;
|
||||
|
||||
/// <summary>
|
||||
/// 请求/响应日志忽略路径前缀列表，用于跳过高频轮询接口的常规日志。
|
||||
/// </summary>
|
||||
private static readonly string[] IgnoredLogPathPrefixes =
|
||||
[
|
||||
"/api/status/snapshot"
|
||||
];
|
||||
|
||||
/// <summary>
|
||||
/// 初始化请求响应日志中间件。
|
||||
/// </summary>
|
||||
/// <param name="next">下一个中间件委托。</param>
|
||||
/// <param name="logger">日志记录器。</param>
|
||||
public RequestResponseLoggingMiddleware(RequestDelegate next, ILogger<RequestResponseLoggingMiddleware> logger)
|
||||
{
|
||||
_next = next ?? throw new ArgumentNullException(nameof(next));
|
||||
_logger = logger ?? throw new ArgumentNullException(nameof(logger));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 处理 HTTP 请求并记录输入输出。
|
||||
/// </summary>
|
||||
/// <param name="context">HTTP 上下文。</param>
|
||||
public async Task InvokeAsync(HttpContext context)
|
||||
{
|
||||
// 高频状态轮询接口只转发请求，不记录请求/响应日志，避免控制台和文件日志被刷屏。
|
||||
if (ShouldSkipRequestResponseLog(context.Request.Path))
|
||||
{
|
||||
await _next(context).ConfigureAwait(false);
|
||||
return;
|
||||
}
|
||||
|
||||
var stopwatch = Stopwatch.StartNew();
|
||||
var request = context.Request;
|
||||
var requestId = Activity.Current?.Id ?? context.TraceIdentifier;
|
||||
|
||||
// 记录请求进入信息（Info 级别：方法、路径、查询参数）。
|
||||
_logger.LogInformation(
|
||||
"[HTTP-REQ] [{RequestId}] {Method} {Path}{QueryString} — 客户端 {RemoteIp}",
|
||||
requestId,
|
||||
request.Method,
|
||||
request.Path,
|
||||
request.QueryString.HasValue ? request.QueryString.Value : string.Empty,
|
||||
context.Connection.RemoteIpAddress);
|
||||
|
||||
// 读取并记录请求体（Debug 级别）。
|
||||
string? requestBody = null;
|
||||
if (request.ContentLength > 0 && request.Body.CanRead)
|
||||
{
|
||||
request.EnableBuffering();
|
||||
requestBody = await ReadBodyAsync(request.Body, context.RequestAborted).ConfigureAwait(false);
|
||||
request.Body.Position = 0;
|
||||
|
||||
if (!string.IsNullOrEmpty(requestBody))
|
||||
{
|
||||
_logger.LogDebug(
|
||||
"[HTTP-REQ-BODY] [{RequestId}] {Body}",
|
||||
requestId,
|
||||
TruncateBody(requestBody));
|
||||
}
|
||||
}
|
||||
|
||||
// 拦截响应流以便读取响应体。
|
||||
var originalResponseBody = context.Response.Body;
|
||||
using var responseBodyStream = new MemoryStream();
|
||||
context.Response.Body = responseBodyStream;
|
||||
|
||||
try
|
||||
{
|
||||
await _next(context).ConfigureAwait(false);
|
||||
}
|
||||
catch (Exception exception)
|
||||
{
|
||||
_logger.LogError(
|
||||
exception,
|
||||
"[HTTP-ERR] [{RequestId}] {Method} {Path} 处理过程中发生未捕获异常",
|
||||
requestId,
|
||||
request.Method,
|
||||
request.Path);
|
||||
throw;
|
||||
}
|
||||
finally
|
||||
{
|
||||
stopwatch.Stop();
|
||||
responseBodyStream.Position = 0;
|
||||
var responseBody = await ReadBodyAsync(responseBodyStream, context.RequestAborted).ConfigureAwait(false);
|
||||
responseBodyStream.Position = 0;
|
||||
await responseBodyStream.CopyToAsync(originalResponseBody, context.RequestAborted).ConfigureAwait(false);
|
||||
context.Response.Body = originalResponseBody;
|
||||
|
||||
var statusCode = context.Response.StatusCode;
|
||||
var level = statusCode >= 500 ? LogLevel.Error : statusCode >= 400 ? LogLevel.Warning : LogLevel.Information;
|
||||
|
||||
// 记录响应概要（Info/Warning/Error 级别）。
|
||||
_logger.Log(
|
||||
level,
|
||||
"[HTTP-RES] [{RequestId}] {Method} {Path} => {StatusCode} ({ElapsedMs}ms)",
|
||||
requestId,
|
||||
request.Method,
|
||||
request.Path,
|
||||
statusCode,
|
||||
stopwatch.ElapsedMilliseconds);
|
||||
|
||||
// 记录响应体（Debug 级别）。
|
||||
if (!string.IsNullOrEmpty(responseBody))
|
||||
{
|
||||
_logger.LogDebug(
|
||||
"[HTTP-RES-BODY] [{RequestId}] {Body}",
|
||||
requestId,
|
||||
TruncateBody(responseBody));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从流中读取文本内容。
|
||||
/// </summary>
|
||||
private static async Task<string> ReadBodyAsync(Stream stream, CancellationToken cancellationToken)
|
||||
{
|
||||
if (!stream.CanRead)
|
||||
{
|
||||
return string.Empty;
|
||||
}
|
||||
|
||||
using var reader = new StreamReader(stream, Encoding.UTF8, leaveOpen: true);
|
||||
var body = await reader.ReadToEndAsync(cancellationToken).ConfigureAwait(false);
|
||||
return body;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 截断过长内容，避免日志膨胀。
|
||||
/// </summary>
|
||||
private static string TruncateBody(string body)
|
||||
{
|
||||
if (body.Length <= MaxBodyLogLength)
|
||||
{
|
||||
return body;
|
||||
}
|
||||
|
||||
return body[..MaxBodyLogLength] + " ... [截断，总长度=" + body.Length + "]";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 判断当前请求路径是否命中请求/响应日志忽略前缀。
|
||||
/// </summary>
|
||||
private static bool ShouldSkipRequestResponseLog(PathString path)
|
||||
{
|
||||
var pathValue = path.Value;
|
||||
return !string.IsNullOrEmpty(pathValue)
|
||||
&& IgnoredLogPathPrefixes.Any(prefix => pathValue.StartsWith(prefix, StringComparison.OrdinalIgnoreCase));
|
||||
}
|
||||
}
|
||||
@@ -1,94 +1,124 @@
|
||||
using Flyshot.ControllerClientCompat;
|
||||
using Flyshot.Server.Host;
|
||||
using Flyshot.Server.Host.Middleware;
|
||||
using Microsoft.Extensions.Options;
|
||||
using Microsoft.OpenApi.Models;
|
||||
using NLog.Web;
|
||||
using Swashbuckle.AspNetCore.SwaggerGen;
|
||||
|
||||
var builder = WebApplication.CreateBuilder(args);
|
||||
// NLog: 在 ASP.NET Core 启动前完成配置加载，确保最早期的日志也能被捕获。
|
||||
NLog.LogManager.Setup().LoadConfigurationFromAppSettings();
|
||||
var logger = NLog.LogManager.GetCurrentClassLogger();
|
||||
|
||||
builder.Services.Configure<HostSwaggerOptions>(builder.Configuration.GetSection("Swagger"));
|
||||
builder.Services.Configure<HostCorsOptions>(builder.Configuration.GetSection("Cors"));
|
||||
builder.Services.AddControllerClientCompat(builder.Configuration);
|
||||
builder.Services.AddControllers();
|
||||
builder.Services.AddEndpointsApiExplorer();
|
||||
|
||||
var swaggerOptions = builder.Configuration.GetSection("Swagger").Get<HostSwaggerOptions>() ?? new HostSwaggerOptions();
|
||||
builder.Services.AddSwaggerGen(options =>
|
||||
try
|
||||
{
|
||||
options.SwaggerDoc(swaggerOptions.DocumentName, new OpenApiInfo
|
||||
logger.Info("Flyshot Server Host 启动中...");
|
||||
|
||||
var builder = WebApplication.CreateBuilder(args);
|
||||
|
||||
// NLog: 替换默认日志提供者为 NLog，清除其他 Provider 避免重复输出。
|
||||
builder.Logging.ClearProviders();
|
||||
builder.Host.UseNLog();
|
||||
|
||||
builder.Services.Configure<HostSwaggerOptions>(builder.Configuration.GetSection("Swagger"));
|
||||
builder.Services.Configure<HostCorsOptions>(builder.Configuration.GetSection("Cors"));
|
||||
builder.Services.AddControllerClientCompat(builder.Configuration);
|
||||
builder.Services.AddControllers();
|
||||
builder.Services.AddEndpointsApiExplorer();
|
||||
|
||||
var swaggerOptions = builder.Configuration.GetSection("Swagger").Get<HostSwaggerOptions>() ?? new HostSwaggerOptions();
|
||||
builder.Services.AddSwaggerGen(options =>
|
||||
{
|
||||
Title = swaggerOptions.Title,
|
||||
Version = swaggerOptions.Version
|
||||
options.SwaggerDoc(swaggerOptions.DocumentName, new OpenApiInfo
|
||||
{
|
||||
Title = swaggerOptions.Title,
|
||||
Version = swaggerOptions.Version
|
||||
});
|
||||
|
||||
// 把控制器与 DTO 上的 /// summary 注释纳入 OpenAPI 文档；调试页据此渲染端点标题。
|
||||
var xmlDocumentationPath = Path.Combine(AppContext.BaseDirectory, $"{typeof(Program).Assembly.GetName().Name}.xml");
|
||||
if (File.Exists(xmlDocumentationPath))
|
||||
{
|
||||
options.IncludeXmlComments(xmlDocumentationPath, includeControllerXmlComments: true);
|
||||
}
|
||||
});
|
||||
|
||||
// 把控制器与 DTO 上的 /// summary 注释纳入 OpenAPI 文档；调试页据此渲染端点标题。
|
||||
var xmlDocumentationPath = Path.Combine(AppContext.BaseDirectory, $"{typeof(Program).Assembly.GetName().Name}.xml");
|
||||
if (File.Exists(xmlDocumentationPath))
|
||||
var corsOptions = builder.Configuration.GetSection("Cors").Get<HostCorsOptions>() ?? new HostCorsOptions();
|
||||
builder.Services.AddCors(options =>
|
||||
{
|
||||
options.IncludeXmlComments(xmlDocumentationPath, includeControllerXmlComments: true);
|
||||
options.AddPolicy(corsOptions.PolicyName, policyBuilder =>
|
||||
{
|
||||
// 兼容本地调试时最常见的任意源配置，同时保留显式白名单模式。
|
||||
if (corsOptions.AllowedOrigins.Length == 1 && string.Equals(corsOptions.AllowedOrigins[0], "*", StringComparison.Ordinal))
|
||||
{
|
||||
policyBuilder.AllowAnyOrigin();
|
||||
}
|
||||
else
|
||||
{
|
||||
policyBuilder.WithOrigins(corsOptions.AllowedOrigins);
|
||||
}
|
||||
|
||||
if (corsOptions.AllowedMethods.Length == 1 && string.Equals(corsOptions.AllowedMethods[0], "*", StringComparison.Ordinal))
|
||||
{
|
||||
policyBuilder.AllowAnyMethod();
|
||||
}
|
||||
else
|
||||
{
|
||||
policyBuilder.WithMethods(corsOptions.AllowedMethods);
|
||||
}
|
||||
|
||||
if (corsOptions.AllowedHeaders.Length == 1 && string.Equals(corsOptions.AllowedHeaders[0], "*", StringComparison.Ordinal))
|
||||
{
|
||||
policyBuilder.AllowAnyHeader();
|
||||
}
|
||||
else
|
||||
{
|
||||
policyBuilder.WithHeaders(corsOptions.AllowedHeaders);
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
var app = builder.Build();
|
||||
|
||||
var resolvedSwaggerOptions = app.Services.GetRequiredService<IOptions<HostSwaggerOptions>>().Value;
|
||||
var resolvedCorsOptions = app.Services.GetRequiredService<IOptions<HostCorsOptions>>().Value;
|
||||
|
||||
if (resolvedSwaggerOptions.Enabled)
|
||||
{
|
||||
app.UseSwagger(options =>
|
||||
{
|
||||
options.RouteTemplate = resolvedSwaggerOptions.JsonRouteTemplate;
|
||||
});
|
||||
|
||||
app.UseSwaggerUI(options =>
|
||||
{
|
||||
options.RoutePrefix = resolvedSwaggerOptions.RoutePrefix;
|
||||
options.SwaggerEndpoint(
|
||||
$"/swagger/{resolvedSwaggerOptions.DocumentName}/swagger.json",
|
||||
$"{resolvedSwaggerOptions.Title} {resolvedSwaggerOptions.Version}");
|
||||
options.DocumentTitle = resolvedSwaggerOptions.Title;
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
var corsOptions = builder.Configuration.GetSection("Cors").Get<HostCorsOptions>() ?? new HostCorsOptions();
|
||||
builder.Services.AddCors(options =>
|
||||
app.UseCors(resolvedCorsOptions.PolicyName);
|
||||
app.UseStaticFiles();
|
||||
|
||||
// 注册 HTTP 请求/响应日志中间件，记录所有 API 调用的输入输出。
|
||||
app.UseMiddleware<RequestResponseLoggingMiddleware>();
|
||||
|
||||
app.MapControllers();
|
||||
|
||||
logger.Info("Flyshot Server Host 已就绪，开始监听请求。");
|
||||
app.Run();
|
||||
}
|
||||
catch (Exception exception)
|
||||
{
|
||||
options.AddPolicy(corsOptions.PolicyName, policyBuilder =>
|
||||
{
|
||||
// 兼容本地调试时最常见的任意源配置，同时保留显式白名单模式。
|
||||
if (corsOptions.AllowedOrigins.Length == 1 && string.Equals(corsOptions.AllowedOrigins[0], "*", StringComparison.Ordinal))
|
||||
{
|
||||
policyBuilder.AllowAnyOrigin();
|
||||
}
|
||||
else
|
||||
{
|
||||
policyBuilder.WithOrigins(corsOptions.AllowedOrigins);
|
||||
}
|
||||
|
||||
if (corsOptions.AllowedMethods.Length == 1 && string.Equals(corsOptions.AllowedMethods[0], "*", StringComparison.Ordinal))
|
||||
{
|
||||
policyBuilder.AllowAnyMethod();
|
||||
}
|
||||
else
|
||||
{
|
||||
policyBuilder.WithMethods(corsOptions.AllowedMethods);
|
||||
}
|
||||
|
||||
if (corsOptions.AllowedHeaders.Length == 1 && string.Equals(corsOptions.AllowedHeaders[0], "*", StringComparison.Ordinal))
|
||||
{
|
||||
policyBuilder.AllowAnyHeader();
|
||||
}
|
||||
else
|
||||
{
|
||||
policyBuilder.WithHeaders(corsOptions.AllowedHeaders);
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
var app = builder.Build();
|
||||
|
||||
var resolvedSwaggerOptions = app.Services.GetRequiredService<IOptions<HostSwaggerOptions>>().Value;
|
||||
var resolvedCorsOptions = app.Services.GetRequiredService<IOptions<HostCorsOptions>>().Value;
|
||||
|
||||
if (resolvedSwaggerOptions.Enabled)
|
||||
logger.Error(exception, "Flyshot Server Host 启动失败。");
|
||||
throw;
|
||||
}
|
||||
finally
|
||||
{
|
||||
app.UseSwagger(options =>
|
||||
{
|
||||
options.RouteTemplate = resolvedSwaggerOptions.JsonRouteTemplate;
|
||||
});
|
||||
|
||||
app.UseSwaggerUI(options =>
|
||||
{
|
||||
options.RoutePrefix = resolvedSwaggerOptions.RoutePrefix;
|
||||
options.SwaggerEndpoint(
|
||||
$"/swagger/{resolvedSwaggerOptions.DocumentName}/swagger.json",
|
||||
$"{resolvedSwaggerOptions.Title} {resolvedSwaggerOptions.Version}");
|
||||
options.DocumentTitle = resolvedSwaggerOptions.Title;
|
||||
});
|
||||
NLog.LogManager.Shutdown();
|
||||
}
|
||||
|
||||
app.UseCors(resolvedCorsOptions.PolicyName);
|
||||
app.MapControllers();
|
||||
|
||||
app.Run();
|
||||
|
||||
public partial class Program;
|
||||
|
||||
424
src/Flyshot.Server.Host/wwwroot/assets/debug.css
Normal file
424
src/Flyshot.Server.Host/wwwroot/assets/debug.css
Normal file
@@ -0,0 +1,424 @@
|
||||
:root {
|
||||
color-scheme: light;
|
||||
--bg: #f5f7fb;
|
||||
--surface: #ffffff;
|
||||
--line: #d8dee9;
|
||||
--text: #172033;
|
||||
--muted: #5b667a;
|
||||
--accent: #007c89;
|
||||
--good: #12805c;
|
||||
--warn: #b7791f;
|
||||
--bad: #b42318;
|
||||
--get: #1f6feb;
|
||||
--post: #2da44e;
|
||||
--put: #9a6700;
|
||||
--delete: #cf222e;
|
||||
--code-bg: #f4f6fa;
|
||||
}
|
||||
|
||||
* { box-sizing: border-box; }
|
||||
|
||||
body {
|
||||
margin: 0;
|
||||
min-height: 100vh;
|
||||
background: var(--bg);
|
||||
color: var(--text);
|
||||
font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif;
|
||||
font-size: 14px;
|
||||
}
|
||||
|
||||
header {
|
||||
border-bottom: 1px solid var(--line);
|
||||
background: var(--surface);
|
||||
position: sticky;
|
||||
top: 0;
|
||||
z-index: 10;
|
||||
}
|
||||
|
||||
.topbar {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
gap: 16px;
|
||||
width: min(1280px, calc(100% - 32px));
|
||||
margin: 0 auto;
|
||||
padding: 18px 0;
|
||||
}
|
||||
|
||||
h1 {
|
||||
margin: 0;
|
||||
font-size: 22px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.actions {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 10px;
|
||||
}
|
||||
|
||||
button {
|
||||
min-height: 34px;
|
||||
padding: 0 14px;
|
||||
border: 1px solid var(--accent);
|
||||
border-radius: 6px;
|
||||
background: var(--accent);
|
||||
color: #ffffff;
|
||||
font: inherit;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
button.secondary {
|
||||
background: transparent;
|
||||
color: var(--accent);
|
||||
}
|
||||
|
||||
button:disabled {
|
||||
opacity: 0.55;
|
||||
cursor: default;
|
||||
}
|
||||
|
||||
.link-button {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
min-height: 34px;
|
||||
padding: 0 14px;
|
||||
border: 1px solid var(--accent);
|
||||
border-radius: 6px;
|
||||
background: transparent;
|
||||
color: var(--accent);
|
||||
font: inherit;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.link-button:hover {
|
||||
background: rgba(0, 124, 137, 0.08);
|
||||
}
|
||||
|
||||
main {
|
||||
width: min(1280px, calc(100% - 32px));
|
||||
margin: 22px auto 60px;
|
||||
}
|
||||
|
||||
.meta {
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 8px;
|
||||
background: var(--surface);
|
||||
margin-bottom: 18px;
|
||||
}
|
||||
|
||||
.meta dl {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(3, minmax(0, 1fr));
|
||||
gap: 0;
|
||||
margin: 0;
|
||||
padding: 12px 16px;
|
||||
}
|
||||
|
||||
.meta dt {
|
||||
color: var(--muted);
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.meta dd {
|
||||
margin: 4px 0 0;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
overflow-wrap: anywhere;
|
||||
}
|
||||
|
||||
.meta dd.bad { color: var(--bad); }
|
||||
.meta dd.good { color: var(--good); }
|
||||
|
||||
.group {
|
||||
margin-top: 22px;
|
||||
}
|
||||
|
||||
.group h2 {
|
||||
margin: 0 0 10px 4px;
|
||||
font-size: 16px;
|
||||
font-weight: 650;
|
||||
color: var(--muted);
|
||||
}
|
||||
|
||||
.card {
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 8px;
|
||||
background: var(--surface);
|
||||
margin-bottom: 12px;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.card-head {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 12px;
|
||||
padding: 12px 16px;
|
||||
cursor: pointer;
|
||||
user-select: none;
|
||||
}
|
||||
|
||||
.card-head:hover {
|
||||
background: #fafbfd;
|
||||
}
|
||||
|
||||
.badge {
|
||||
flex: 0 0 auto;
|
||||
min-width: 60px;
|
||||
padding: 3px 10px;
|
||||
border-radius: 999px;
|
||||
text-align: center;
|
||||
color: #ffffff;
|
||||
font-weight: 650;
|
||||
font-size: 12px;
|
||||
letter-spacing: 0.5px;
|
||||
}
|
||||
|
||||
.badge.GET { background: var(--get); }
|
||||
.badge.POST { background: var(--post); }
|
||||
.badge.PUT { background: var(--put); }
|
||||
.badge.DELETE { background: var(--delete); }
|
||||
.badge.OTHER { background: var(--muted); }
|
||||
|
||||
.card-path {
|
||||
flex: 1 1 auto;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
font-size: 14px;
|
||||
overflow-wrap: anywhere;
|
||||
}
|
||||
|
||||
.card-summary {
|
||||
flex: 0 1 auto;
|
||||
max-width: 50%;
|
||||
color: var(--muted);
|
||||
font-size: 13px;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
.card-toggle {
|
||||
flex: 0 0 auto;
|
||||
color: var(--muted);
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.card-body {
|
||||
padding: 12px 16px 16px;
|
||||
border-top: 1px solid var(--line);
|
||||
}
|
||||
|
||||
.card.collapsed .card-body {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.form-row {
|
||||
display: grid;
|
||||
grid-template-columns: 180px minmax(0, 1fr) 90px;
|
||||
gap: 8px 12px;
|
||||
align-items: center;
|
||||
margin-bottom: 8px;
|
||||
}
|
||||
|
||||
.form-row .name {
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
color: var(--text);
|
||||
overflow-wrap: anywhere;
|
||||
}
|
||||
|
||||
.form-row .name .required {
|
||||
color: var(--bad);
|
||||
margin-left: 4px;
|
||||
}
|
||||
|
||||
.form-row input[type="text"],
|
||||
.form-row input[type="number"] {
|
||||
width: 100%;
|
||||
min-height: 32px;
|
||||
padding: 4px 10px;
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 4px;
|
||||
font: inherit;
|
||||
}
|
||||
|
||||
.form-row .type {
|
||||
color: var(--muted);
|
||||
font-size: 12px;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
}
|
||||
|
||||
.body-block {
|
||||
margin-top: 6px;
|
||||
}
|
||||
|
||||
.body-label {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
gap: 12px;
|
||||
margin-bottom: 6px;
|
||||
}
|
||||
|
||||
.body-label .left {
|
||||
color: var(--muted);
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
textarea.body-editor {
|
||||
width: 100%;
|
||||
min-height: 140px;
|
||||
padding: 10px 12px;
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 4px;
|
||||
background: var(--code-bg);
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
font-size: 13px;
|
||||
resize: vertical;
|
||||
}
|
||||
|
||||
.button-row {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
gap: 8px;
|
||||
margin-top: 12px;
|
||||
}
|
||||
|
||||
.response-block {
|
||||
margin-top: 14px;
|
||||
padding-top: 12px;
|
||||
border-top: 1px dashed var(--line);
|
||||
}
|
||||
|
||||
.response-summary {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
align-items: center;
|
||||
gap: 10px;
|
||||
margin-bottom: 8px;
|
||||
font-size: 13px;
|
||||
}
|
||||
|
||||
.status-badge {
|
||||
padding: 2px 8px;
|
||||
border-radius: 4px;
|
||||
color: #ffffff;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.status-badge.s2xx { background: var(--good); }
|
||||
.status-badge.s3xx { background: var(--get); }
|
||||
.status-badge.s4xx { background: var(--warn); }
|
||||
.status-badge.s5xx { background: var(--bad); }
|
||||
.status-badge.error { background: var(--bad); }
|
||||
|
||||
pre.response-body,
|
||||
pre.response-headers {
|
||||
margin: 6px 0 0;
|
||||
padding: 10px 12px;
|
||||
background: var(--code-bg);
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 4px;
|
||||
max-height: 360px;
|
||||
overflow: auto;
|
||||
white-space: pre-wrap;
|
||||
overflow-wrap: anywhere;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
font-size: 12.5px;
|
||||
}
|
||||
|
||||
pre.response-headers {
|
||||
max-height: 160px;
|
||||
}
|
||||
|
||||
details > summary {
|
||||
cursor: pointer;
|
||||
color: var(--muted);
|
||||
font-size: 12px;
|
||||
margin: 6px 0 0;
|
||||
}
|
||||
|
||||
.empty-hint {
|
||||
padding: 12px 0;
|
||||
color: var(--muted);
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
.history {
|
||||
position: fixed;
|
||||
right: 16px;
|
||||
bottom: 16px;
|
||||
width: 360px;
|
||||
max-width: calc(100vw - 32px);
|
||||
max-height: 50vh;
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 8px;
|
||||
background: var(--surface);
|
||||
box-shadow: 0 8px 24px rgba(23, 32, 51, 0.12);
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
z-index: 20;
|
||||
}
|
||||
|
||||
.history h3 {
|
||||
margin: 0;
|
||||
padding: 10px 14px;
|
||||
border-bottom: 1px solid var(--line);
|
||||
font-size: 13px;
|
||||
font-weight: 650;
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.history h3 button {
|
||||
min-height: 24px;
|
||||
padding: 0 8px;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.history ul {
|
||||
list-style: none;
|
||||
margin: 0;
|
||||
padding: 6px 0;
|
||||
overflow: auto;
|
||||
}
|
||||
|
||||
.history li {
|
||||
padding: 6px 14px;
|
||||
font-size: 12px;
|
||||
border-bottom: 1px solid #edf1f7;
|
||||
display: grid;
|
||||
grid-template-columns: 50px 1fr auto;
|
||||
gap: 8px;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.history li:last-child { border-bottom: 0; }
|
||||
|
||||
.history li .h-method {
|
||||
font-weight: 650;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
}
|
||||
|
||||
.history li .h-path {
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
@media (max-width: 920px) {
|
||||
.form-row {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
|
||||
.meta dl {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
|
||||
.history {
|
||||
position: static;
|
||||
width: auto;
|
||||
margin-top: 18px;
|
||||
max-height: none;
|
||||
}
|
||||
}
|
||||
670
src/Flyshot.Server.Host/wwwroot/assets/debug.js
Normal file
670
src/Flyshot.Server.Host/wwwroot/assets/debug.js
Normal file
@@ -0,0 +1,670 @@
|
||||
// 静态调试页通过配置 API 获取实际 Swagger JSON 地址，避免硬编码路由前缀。
|
||||
const DEBUG_CONFIG_URL = "/api/debug/config";
|
||||
const STORAGE_PREFIX = "flyshot.debug.";
|
||||
const HISTORY_LIMIT = 10;
|
||||
|
||||
const groupTitleByPrefix = [
|
||||
// 基础与状态分组：探活和状态快照两个固定 API 路径
|
||||
{ match: function (op) { return op.path === "/healthz" || op.path === "/api/status/snapshot"; }, title: "基础与状态" },
|
||||
// 默认兜底：剩余全部走 ControllerClient 兼容分组
|
||||
{ match: function () { return true; }, title: "ControllerClient 兼容" }
|
||||
];
|
||||
|
||||
const state = {
|
||||
spec: null,
|
||||
operations: [],
|
||||
history: []
|
||||
};
|
||||
|
||||
/** 简单的 escape：把任意字符串安全嵌入 textContent 之外的位置时使用。 */
|
||||
function escapeHtml(value) {
|
||||
return String(value).replace(/[&<>"']/g, function (ch) {
|
||||
return { "&": "&", "<": "<", ">": ">", "\"": """, "'": "'" }[ch];
|
||||
});
|
||||
}
|
||||
|
||||
/** 解析 OpenAPI 中的 $ref 引用，仅支持本地 components.schemas 形式。 */
|
||||
function resolveRef(ref) {
|
||||
if (!ref || !state.spec) return null;
|
||||
const parts = ref.replace(/^#\//, "").split("/");
|
||||
let cursor = state.spec;
|
||||
for (const part of parts) {
|
||||
if (cursor && Object.prototype.hasOwnProperty.call(cursor, part)) {
|
||||
cursor = cursor[part];
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
}
|
||||
return cursor;
|
||||
}
|
||||
|
||||
/** 根据 schema 生成默认 JSON 模板，用于自动填充请求体编辑器。 */
|
||||
function buildSampleFromSchema(schema, depth) {
|
||||
depth = depth || 0;
|
||||
// 防御递归：复杂自引用 schema 在 4 层后停下，避免栈爆。
|
||||
if (!schema || depth > 4) return null;
|
||||
|
||||
if (schema.$ref) {
|
||||
const resolved = resolveRef(schema.$ref);
|
||||
return resolved ? buildSampleFromSchema(resolved, depth + 1) : null;
|
||||
}
|
||||
|
||||
// 部分 schema 只标 oneOf/anyOf/allOf，挑第一个分支即可，调试场景够用。
|
||||
if (Array.isArray(schema.oneOf) && schema.oneOf.length > 0) return buildSampleFromSchema(schema.oneOf[0], depth + 1);
|
||||
if (Array.isArray(schema.anyOf) && schema.anyOf.length > 0) return buildSampleFromSchema(schema.anyOf[0], depth + 1);
|
||||
if (Array.isArray(schema.allOf) && schema.allOf.length > 0) {
|
||||
const merged = {};
|
||||
schema.allOf.forEach(function (sub) {
|
||||
const value = buildSampleFromSchema(sub, depth + 1);
|
||||
if (value && typeof value === "object" && !Array.isArray(value)) Object.assign(merged, value);
|
||||
});
|
||||
return merged;
|
||||
}
|
||||
|
||||
const type = schema.type || (schema.properties ? "object" : "string");
|
||||
switch (type) {
|
||||
case "object": {
|
||||
const result = {};
|
||||
const props = schema.properties || {};
|
||||
Object.keys(props).forEach(function (key) {
|
||||
result[key] = buildSampleFromSchema(props[key], depth + 1);
|
||||
});
|
||||
return result;
|
||||
}
|
||||
case "array":
|
||||
return [];
|
||||
case "integer":
|
||||
case "number":
|
||||
return 0;
|
||||
case "boolean":
|
||||
return false;
|
||||
case "string":
|
||||
default:
|
||||
if (schema.enum && schema.enum.length > 0) return schema.enum[0];
|
||||
return "";
|
||||
}
|
||||
}
|
||||
|
||||
/** 把 schema.type 翻译成 input type 与展示文本。 */
|
||||
function inputKindForType(schema) {
|
||||
if (!schema) return { kind: "text", label: "string" };
|
||||
const type = schema.type || "string";
|
||||
if (type === "boolean") return { kind: "checkbox", label: "boolean" };
|
||||
if (type === "integer" || type === "number") return { kind: "number", label: type };
|
||||
return { kind: "text", label: type };
|
||||
}
|
||||
|
||||
/** 把 OpenAPI 的 paths 节点展开成扁平的 operation 列表。 */
|
||||
function extractOperations(spec) {
|
||||
const operations = [];
|
||||
const paths = spec.paths || {};
|
||||
Object.keys(paths).forEach(function (path) {
|
||||
const pathItem = paths[path] || {};
|
||||
["get", "post", "put", "delete", "patch", "options", "head"].forEach(function (method) {
|
||||
const op = pathItem[method];
|
||||
if (!op) return;
|
||||
const parameters = (op.parameters || []).filter(function (p) { return p.in === "query" || p.in === "path"; });
|
||||
let bodySchema = null;
|
||||
if (op.requestBody && op.requestBody.content) {
|
||||
const json = op.requestBody.content["application/json"];
|
||||
if (json && json.schema) bodySchema = json.schema;
|
||||
}
|
||||
operations.push({
|
||||
method: method.toUpperCase(),
|
||||
path: path,
|
||||
summary: op.summary || "",
|
||||
description: op.description || "",
|
||||
tags: op.tags || [],
|
||||
parameters: parameters,
|
||||
bodySchema: bodySchema
|
||||
});
|
||||
});
|
||||
});
|
||||
return operations;
|
||||
}
|
||||
|
||||
/** 选择分组：优先用第一条匹配的 groupTitleByPrefix 规则，OpenAPI tag 留作兜底。 */
|
||||
function pickGroup(op) {
|
||||
for (const rule of groupTitleByPrefix) {
|
||||
if (rule.match(op)) return rule.title;
|
||||
}
|
||||
if (op.tags && op.tags.length > 0) return op.tags[0];
|
||||
return "其它";
|
||||
}
|
||||
|
||||
/** localStorage key 必须避免冲突，使用 method:path 复合键。 */
|
||||
function storageKey(op) {
|
||||
return STORAGE_PREFIX + op.method + ":" + op.path;
|
||||
}
|
||||
|
||||
/** 读取本端点最近一次输入；解析失败则当作空。 */
|
||||
function loadInputs(op) {
|
||||
try {
|
||||
const raw = window.localStorage.getItem(storageKey(op));
|
||||
return raw ? JSON.parse(raw) : null;
|
||||
} catch (e) {
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
/** 保存本端点最近一次输入；写入失败时静默忽略，避免影响调试体验。 */
|
||||
function saveInputs(op, payload) {
|
||||
try {
|
||||
window.localStorage.setItem(storageKey(op), JSON.stringify(payload));
|
||||
} catch (e) {
|
||||
// localStorage 可能被禁用或满载，忽略写入失败。
|
||||
}
|
||||
}
|
||||
|
||||
/** 拼接最终请求 URL（含 query 串与 path 参数替换）。 */
|
||||
function buildRequestUrl(op, paramValues) {
|
||||
let path = op.path;
|
||||
const queryPairs = [];
|
||||
op.parameters.forEach(function (param) {
|
||||
const raw = paramValues[param.name];
|
||||
if (raw === undefined || raw === null || raw === "") return;
|
||||
if (param.in === "path") {
|
||||
path = path.replace("{" + param.name + "}", encodeURIComponent(raw));
|
||||
} else if (param.in === "query") {
|
||||
queryPairs.push(encodeURIComponent(param.name) + "=" + encodeURIComponent(raw));
|
||||
}
|
||||
});
|
||||
return path + (queryPairs.length > 0 ? "?" + queryPairs.join("&") : "");
|
||||
}
|
||||
|
||||
/** 生成与浏览器请求等价的 curl 命令，便于复制到终端复现。 */
|
||||
function buildCurlCommand(op, requestUrl, body) {
|
||||
const parts = ["curl", "-X", op.method, JSON.stringify(window.location.origin + requestUrl)];
|
||||
if (body !== null && body !== undefined && body !== "") {
|
||||
parts.push("-H", "\"Content-Type: application/json\"");
|
||||
parts.push("--data-raw", JSON.stringify(body));
|
||||
}
|
||||
return parts.join(" ");
|
||||
}
|
||||
|
||||
/** 渲染参数输入表单，返回收集函数。 */
|
||||
function renderParameterRows(container, op, savedValues) {
|
||||
if (op.parameters.length === 0) return function () { return {}; };
|
||||
|
||||
const inputs = {};
|
||||
op.parameters.forEach(function (param) {
|
||||
const row = document.createElement("div");
|
||||
row.className = "form-row";
|
||||
|
||||
const nameNode = document.createElement("div");
|
||||
nameNode.className = "name";
|
||||
nameNode.textContent = param.name + " (" + param.in + ")";
|
||||
if (param.required) {
|
||||
const requiredMark = document.createElement("span");
|
||||
requiredMark.className = "required";
|
||||
requiredMark.textContent = "*";
|
||||
nameNode.appendChild(requiredMark);
|
||||
}
|
||||
row.appendChild(nameNode);
|
||||
|
||||
const kind = inputKindForType(param.schema);
|
||||
const inputNode = document.createElement("input");
|
||||
inputNode.type = kind.kind;
|
||||
if (kind.kind === "checkbox") {
|
||||
inputNode.checked = savedValues && Object.prototype.hasOwnProperty.call(savedValues, param.name)
|
||||
? Boolean(savedValues[param.name])
|
||||
: Boolean(param.schema && param.schema.default);
|
||||
} else {
|
||||
let initial = "";
|
||||
if (savedValues && Object.prototype.hasOwnProperty.call(savedValues, param.name)) {
|
||||
initial = String(savedValues[param.name]);
|
||||
} else if (param.schema && param.schema.default !== undefined) {
|
||||
initial = String(param.schema.default);
|
||||
}
|
||||
inputNode.value = initial;
|
||||
if (kind.kind === "number") inputNode.step = "any";
|
||||
}
|
||||
row.appendChild(inputNode);
|
||||
|
||||
const typeNode = document.createElement("div");
|
||||
typeNode.className = "type";
|
||||
typeNode.textContent = kind.label;
|
||||
row.appendChild(typeNode);
|
||||
|
||||
container.appendChild(row);
|
||||
inputs[param.name] = { node: inputNode, kind: kind.kind, schema: param.schema };
|
||||
});
|
||||
|
||||
return function collect() {
|
||||
const collected = {};
|
||||
Object.keys(inputs).forEach(function (key) {
|
||||
const item = inputs[key];
|
||||
if (item.kind === "checkbox") {
|
||||
collected[key] = item.node.checked;
|
||||
} else {
|
||||
const raw = item.node.value;
|
||||
if (raw === "") {
|
||||
collected[key] = "";
|
||||
} else if (item.kind === "number") {
|
||||
const num = Number(raw);
|
||||
collected[key] = Number.isNaN(num) ? raw : num;
|
||||
} else {
|
||||
collected[key] = raw;
|
||||
}
|
||||
}
|
||||
});
|
||||
return collected;
|
||||
};
|
||||
}
|
||||
|
||||
/** 渲染请求体编辑器，返回收集函数。 */
|
||||
function renderBodyEditor(container, op, savedBody) {
|
||||
if (!op.bodySchema) return function () { return null; };
|
||||
|
||||
const block = document.createElement("div");
|
||||
block.className = "body-block";
|
||||
|
||||
const labelRow = document.createElement("div");
|
||||
labelRow.className = "body-label";
|
||||
const left = document.createElement("div");
|
||||
left.className = "left";
|
||||
left.textContent = "请求体 (application/json)";
|
||||
labelRow.appendChild(left);
|
||||
|
||||
const formatBtn = document.createElement("button");
|
||||
formatBtn.type = "button";
|
||||
formatBtn.className = "secondary";
|
||||
formatBtn.textContent = "格式化 JSON";
|
||||
labelRow.appendChild(formatBtn);
|
||||
|
||||
block.appendChild(labelRow);
|
||||
|
||||
const textarea = document.createElement("textarea");
|
||||
textarea.className = "body-editor";
|
||||
textarea.spellcheck = false;
|
||||
let initialText;
|
||||
if (savedBody !== undefined && savedBody !== null) {
|
||||
initialText = typeof savedBody === "string" ? savedBody : JSON.stringify(savedBody, null, 2);
|
||||
} else {
|
||||
const sample = buildSampleFromSchema(op.bodySchema, 0);
|
||||
initialText = sample === null ? "" : JSON.stringify(sample, null, 2);
|
||||
}
|
||||
textarea.value = initialText;
|
||||
block.appendChild(textarea);
|
||||
|
||||
formatBtn.addEventListener("click", function () {
|
||||
try {
|
||||
const parsed = JSON.parse(textarea.value || "null");
|
||||
textarea.value = parsed === null ? "" : JSON.stringify(parsed, null, 2);
|
||||
} catch (e) {
|
||||
window.alert("JSON 解析失败: " + e.message);
|
||||
}
|
||||
});
|
||||
|
||||
container.appendChild(block);
|
||||
|
||||
return function collect() {
|
||||
return textarea.value;
|
||||
};
|
||||
}
|
||||
|
||||
/** 把 HTTP 状态码翻译成颜色徽标 class。 */
|
||||
function statusBadgeClass(status) {
|
||||
if (status >= 200 && status < 300) return "s2xx";
|
||||
if (status >= 300 && status < 400) return "s3xx";
|
||||
if (status >= 400 && status < 500) return "s4xx";
|
||||
if (status >= 500) return "s5xx";
|
||||
return "error";
|
||||
}
|
||||
|
||||
/** 把响应头展开成可读字符串。 */
|
||||
function formatHeaders(headers) {
|
||||
const lines = [];
|
||||
headers.forEach(function (value, key) { lines.push(key + ": " + value); });
|
||||
return lines.join("\n");
|
||||
}
|
||||
|
||||
/** 在历史面板顶部追加一条记录，超过上限则丢弃尾部。 */
|
||||
function pushHistory(entry) {
|
||||
state.history.unshift(entry);
|
||||
if (state.history.length > HISTORY_LIMIT) state.history.length = HISTORY_LIMIT;
|
||||
renderHistory();
|
||||
}
|
||||
|
||||
function renderHistory() {
|
||||
const list = document.getElementById("history-list");
|
||||
list.innerHTML = "";
|
||||
if (state.history.length === 0) {
|
||||
const empty = document.createElement("li");
|
||||
empty.textContent = "暂无调用记录";
|
||||
empty.style.color = "var(--muted)";
|
||||
empty.style.gridTemplateColumns = "1fr";
|
||||
list.appendChild(empty);
|
||||
return;
|
||||
}
|
||||
state.history.forEach(function (entry) {
|
||||
const li = document.createElement("li");
|
||||
const method = document.createElement("span");
|
||||
method.className = "h-method";
|
||||
method.textContent = entry.method;
|
||||
method.style.color = entry.method === "GET" ? "var(--get)" : entry.method === "POST" ? "var(--post)" : "var(--muted)";
|
||||
const path = document.createElement("span");
|
||||
path.className = "h-path";
|
||||
path.title = entry.url;
|
||||
path.textContent = entry.url;
|
||||
const meta = document.createElement("span");
|
||||
meta.style.color = "var(--muted)";
|
||||
meta.textContent = (entry.status || "ERR") + " · " + entry.elapsedMs + "ms";
|
||||
li.appendChild(method);
|
||||
li.appendChild(path);
|
||||
li.appendChild(meta);
|
||||
list.appendChild(li);
|
||||
});
|
||||
}
|
||||
|
||||
/** 渲染单个端点的卡片。 */
|
||||
function renderOperationCard(op) {
|
||||
const card = document.createElement("section");
|
||||
card.className = "card collapsed";
|
||||
|
||||
const head = document.createElement("div");
|
||||
head.className = "card-head";
|
||||
|
||||
const badge = document.createElement("span");
|
||||
badge.className = "badge " + (["GET", "POST", "PUT", "DELETE"].indexOf(op.method) >= 0 ? op.method : "OTHER");
|
||||
badge.textContent = op.method;
|
||||
head.appendChild(badge);
|
||||
|
||||
const path = document.createElement("span");
|
||||
path.className = "card-path";
|
||||
path.textContent = op.path;
|
||||
head.appendChild(path);
|
||||
|
||||
const summary = document.createElement("span");
|
||||
summary.className = "card-summary";
|
||||
summary.textContent = op.summary;
|
||||
summary.title = op.summary;
|
||||
head.appendChild(summary);
|
||||
|
||||
const toggle = document.createElement("span");
|
||||
toggle.className = "card-toggle";
|
||||
toggle.textContent = "展开 ▾";
|
||||
head.appendChild(toggle);
|
||||
|
||||
head.addEventListener("click", function () {
|
||||
const collapsed = card.classList.toggle("collapsed");
|
||||
toggle.textContent = collapsed ? "展开 ▾" : "收起 ▴";
|
||||
});
|
||||
card.appendChild(head);
|
||||
|
||||
const body = document.createElement("div");
|
||||
body.className = "card-body";
|
||||
|
||||
// 描述（来自 XML summary）独立成一段
|
||||
if (op.summary) {
|
||||
const desc = document.createElement("div");
|
||||
desc.style.color = "var(--muted)";
|
||||
desc.style.marginBottom = "10px";
|
||||
desc.style.fontSize = "13px";
|
||||
desc.textContent = op.summary;
|
||||
body.appendChild(desc);
|
||||
}
|
||||
|
||||
const saved = loadInputs(op) || {};
|
||||
|
||||
// 参数区
|
||||
let collectParams = function () { return {}; };
|
||||
if (op.parameters.length > 0) {
|
||||
const paramsContainer = document.createElement("div");
|
||||
paramsContainer.className = "params";
|
||||
body.appendChild(paramsContainer);
|
||||
collectParams = renderParameterRows(paramsContainer, op, saved.params);
|
||||
}
|
||||
|
||||
// 请求体区
|
||||
const collectBody = renderBodyEditor(body, op, saved.body);
|
||||
|
||||
// 操作按钮
|
||||
const buttonRow = document.createElement("div");
|
||||
buttonRow.className = "button-row";
|
||||
|
||||
const sendBtn = document.createElement("button");
|
||||
sendBtn.type = "button";
|
||||
sendBtn.textContent = "发送";
|
||||
|
||||
const resetBtn = document.createElement("button");
|
||||
resetBtn.type = "button";
|
||||
resetBtn.className = "secondary";
|
||||
resetBtn.textContent = "重置";
|
||||
|
||||
const curlBtn = document.createElement("button");
|
||||
curlBtn.type = "button";
|
||||
curlBtn.className = "secondary";
|
||||
curlBtn.textContent = "复制 curl";
|
||||
|
||||
buttonRow.appendChild(sendBtn);
|
||||
buttonRow.appendChild(resetBtn);
|
||||
buttonRow.appendChild(curlBtn);
|
||||
body.appendChild(buttonRow);
|
||||
|
||||
// 响应面板
|
||||
const responseBlock = document.createElement("div");
|
||||
responseBlock.className = "response-block";
|
||||
responseBlock.style.display = "none";
|
||||
body.appendChild(responseBlock);
|
||||
|
||||
function renderResponse(payload) {
|
||||
responseBlock.style.display = "block";
|
||||
responseBlock.innerHTML = "";
|
||||
|
||||
const summaryRow = document.createElement("div");
|
||||
summaryRow.className = "response-summary";
|
||||
|
||||
const statusBadge = document.createElement("span");
|
||||
statusBadge.className = "status-badge " + statusBadgeClass(payload.status || 0);
|
||||
statusBadge.textContent = payload.status ? payload.status + " " + (payload.statusText || "") : "请求失败";
|
||||
summaryRow.appendChild(statusBadge);
|
||||
|
||||
const elapsed = document.createElement("span");
|
||||
elapsed.style.color = "var(--muted)";
|
||||
elapsed.textContent = payload.elapsedMs + " ms · " + payload.url;
|
||||
summaryRow.appendChild(elapsed);
|
||||
|
||||
responseBlock.appendChild(summaryRow);
|
||||
|
||||
if (payload.error) {
|
||||
const pre = document.createElement("pre");
|
||||
pre.className = "response-body";
|
||||
pre.textContent = payload.error;
|
||||
responseBlock.appendChild(pre);
|
||||
return;
|
||||
}
|
||||
|
||||
const headersDetails = document.createElement("details");
|
||||
const headersSummary = document.createElement("summary");
|
||||
headersSummary.textContent = "响应头";
|
||||
headersDetails.appendChild(headersSummary);
|
||||
const headersPre = document.createElement("pre");
|
||||
headersPre.className = "response-headers";
|
||||
headersPre.textContent = payload.headers;
|
||||
headersDetails.appendChild(headersPre);
|
||||
responseBlock.appendChild(headersDetails);
|
||||
|
||||
const bodyPre = document.createElement("pre");
|
||||
bodyPre.className = "response-body";
|
||||
bodyPre.textContent = payload.bodyText;
|
||||
responseBlock.appendChild(bodyPre);
|
||||
}
|
||||
|
||||
sendBtn.addEventListener("click", async function () {
|
||||
sendBtn.disabled = true;
|
||||
const params = collectParams();
|
||||
const rawBody = collectBody();
|
||||
saveInputs(op, { params: params, body: rawBody });
|
||||
|
||||
const requestUrl = buildRequestUrl(op, params);
|
||||
const init = { method: op.method, headers: {} };
|
||||
|
||||
// 仅 POST/PUT/PATCH/DELETE 才认为可能携带 body；对没有 bodySchema 的方法直接跳过。
|
||||
const methodAllowsBody = ["POST", "PUT", "PATCH", "DELETE"].indexOf(op.method) >= 0;
|
||||
if (methodAllowsBody && op.bodySchema && rawBody !== null && rawBody !== undefined && rawBody !== "") {
|
||||
init.headers["Content-Type"] = "application/json";
|
||||
init.body = rawBody;
|
||||
}
|
||||
|
||||
const startedAt = performance.now();
|
||||
try {
|
||||
const response = await fetch(requestUrl, init);
|
||||
const elapsedMs = Math.round(performance.now() - startedAt);
|
||||
const text = await response.text();
|
||||
const contentType = response.headers.get("content-type") || "";
|
||||
let bodyText = text;
|
||||
if (contentType.indexOf("application/json") >= 0) {
|
||||
try {
|
||||
bodyText = JSON.stringify(JSON.parse(text), null, 2);
|
||||
} catch (e) {
|
||||
bodyText = text;
|
||||
}
|
||||
}
|
||||
renderResponse({
|
||||
status: response.status,
|
||||
statusText: response.statusText,
|
||||
headers: formatHeaders(response.headers),
|
||||
bodyText: bodyText,
|
||||
url: requestUrl,
|
||||
elapsedMs: elapsedMs
|
||||
});
|
||||
pushHistory({ method: op.method, url: requestUrl, status: response.status, elapsedMs: elapsedMs });
|
||||
} catch (err) {
|
||||
const elapsedMs = Math.round(performance.now() - startedAt);
|
||||
renderResponse({
|
||||
error: String(err && err.message ? err.message : err),
|
||||
url: requestUrl,
|
||||
elapsedMs: elapsedMs
|
||||
});
|
||||
pushHistory({ method: op.method, url: requestUrl, status: 0, elapsedMs: elapsedMs });
|
||||
} finally {
|
||||
sendBtn.disabled = false;
|
||||
}
|
||||
});
|
||||
|
||||
resetBtn.addEventListener("click", function () {
|
||||
try { window.localStorage.removeItem(storageKey(op)); } catch (e) { /* 忽略 */ }
|
||||
// 直接重新渲染当前卡片：替换原 DOM 节点。
|
||||
const refreshed = renderOperationCard(op);
|
||||
refreshed.classList.remove("collapsed");
|
||||
refreshed.querySelector(".card-toggle").textContent = "收起 ▴";
|
||||
card.parentNode.replaceChild(refreshed, card);
|
||||
});
|
||||
|
||||
curlBtn.addEventListener("click", function () {
|
||||
const params = collectParams();
|
||||
const rawBody = collectBody();
|
||||
const requestUrl = buildRequestUrl(op, params);
|
||||
const methodAllowsBody = ["POST", "PUT", "PATCH", "DELETE"].indexOf(op.method) >= 0;
|
||||
const bodyForCurl = methodAllowsBody && op.bodySchema ? rawBody : null;
|
||||
const command = buildCurlCommand(op, requestUrl, bodyForCurl);
|
||||
if (navigator.clipboard && navigator.clipboard.writeText) {
|
||||
navigator.clipboard.writeText(command).then(function () {
|
||||
curlBtn.textContent = "已复制 ✓";
|
||||
window.setTimeout(function () { curlBtn.textContent = "复制 curl"; }, 1500);
|
||||
}).catch(function () {
|
||||
window.prompt("复制失败，手动复制：", command);
|
||||
});
|
||||
} else {
|
||||
window.prompt("复制失败，手动复制：", command);
|
||||
}
|
||||
});
|
||||
|
||||
card.appendChild(body);
|
||||
return card;
|
||||
}
|
||||
|
||||
/** 把 operation 列表按分组渲染到主区域。 */
|
||||
function renderGroups(operations) {
|
||||
const root = document.getElementById("debug-console-app");
|
||||
root.innerHTML = "";
|
||||
if (operations.length === 0) {
|
||||
const empty = document.createElement("div");
|
||||
empty.className = "empty-hint";
|
||||
empty.textContent = "OpenAPI 文档中没有任何端点。";
|
||||
root.appendChild(empty);
|
||||
return;
|
||||
}
|
||||
|
||||
const grouped = new Map();
|
||||
operations.forEach(function (op) {
|
||||
const groupTitle = pickGroup(op);
|
||||
if (!grouped.has(groupTitle)) grouped.set(groupTitle, []);
|
||||
grouped.get(groupTitle).push(op);
|
||||
});
|
||||
|
||||
// 固定输出顺序：基础与状态在前，ControllerClient 兼容在后，其余按字典序。
|
||||
const orderedTitles = [];
|
||||
["基础与状态", "ControllerClient 兼容"].forEach(function (title) {
|
||||
if (grouped.has(title)) orderedTitles.push(title);
|
||||
});
|
||||
Array.from(grouped.keys()).sort().forEach(function (title) {
|
||||
if (orderedTitles.indexOf(title) < 0) orderedTitles.push(title);
|
||||
});
|
||||
|
||||
orderedTitles.forEach(function (title) {
|
||||
const ops = grouped.get(title);
|
||||
ops.sort(function (a, b) {
|
||||
if (a.path === b.path) return a.method.localeCompare(b.method);
|
||||
return a.path.localeCompare(b.path);
|
||||
});
|
||||
|
||||
const section = document.createElement("section");
|
||||
section.className = "group";
|
||||
const heading = document.createElement("h2");
|
||||
heading.textContent = title + " (" + ops.length + ")";
|
||||
section.appendChild(heading);
|
||||
ops.forEach(function (op) { section.appendChild(renderOperationCard(op)); });
|
||||
root.appendChild(section);
|
||||
});
|
||||
}
|
||||
|
||||
/** 加载 OpenAPI 文档并渲染。 */
|
||||
async function loadSpecAndRender() {
|
||||
const metaSpec = document.getElementById("meta-spec-url");
|
||||
const metaCount = document.getElementById("meta-operation-count");
|
||||
const metaStatus = document.getElementById("meta-status");
|
||||
|
||||
metaSpec.textContent = "正在读取调试配置...";
|
||||
metaStatus.textContent = "正在拉取 OpenAPI 文档...";
|
||||
metaStatus.className = "";
|
||||
|
||||
try {
|
||||
const configResponse = await fetch(DEBUG_CONFIG_URL, { cache: "no-store" });
|
||||
if (!configResponse.ok) throw new Error("调试配置 HTTP " + configResponse.status + " " + configResponse.statusText);
|
||||
const config = await configResponse.json();
|
||||
const swaggerJsonUrl = config.swaggerJsonUrl;
|
||||
if (!swaggerJsonUrl) throw new Error("调试配置缺少 swaggerJsonUrl");
|
||||
metaSpec.textContent = swaggerJsonUrl;
|
||||
|
||||
const response = await fetch(swaggerJsonUrl, { cache: "no-store" });
|
||||
if (!response.ok) throw new Error("HTTP " + response.status + " " + response.statusText);
|
||||
const spec = await response.json();
|
||||
state.spec = spec;
|
||||
state.operations = extractOperations(spec);
|
||||
metaCount.textContent = state.operations.length;
|
||||
metaStatus.textContent = "已加载";
|
||||
metaStatus.className = "good";
|
||||
renderGroups(state.operations);
|
||||
} catch (err) {
|
||||
metaStatus.textContent = "加载失败: " + (err && err.message ? err.message : err);
|
||||
metaStatus.className = "bad";
|
||||
metaCount.textContent = "0";
|
||||
const root = document.getElementById("debug-console-app");
|
||||
root.innerHTML = "";
|
||||
const errBlock = document.createElement("div");
|
||||
errBlock.className = "empty-hint";
|
||||
errBlock.textContent = "无法加载 OpenAPI 文档，请确认 Swagger:Enabled = true 且 " + DEBUG_CONFIG_URL + " 可访问。";
|
||||
root.appendChild(errBlock);
|
||||
}
|
||||
}
|
||||
|
||||
document.getElementById("reload-spec").addEventListener("click", loadSpecAndRender);
|
||||
document.getElementById("history-clear").addEventListener("click", function () {
|
||||
state.history.length = 0;
|
||||
renderHistory();
|
||||
});
|
||||
|
||||
renderHistory();
|
||||
loadSpecAndRender();
|
||||
214
src/Flyshot.Server.Host/wwwroot/assets/status.css
Normal file
214
src/Flyshot.Server.Host/wwwroot/assets/status.css
Normal file
@@ -0,0 +1,214 @@
|
||||
:root {
|
||||
color-scheme: light;
|
||||
--bg: #f5f7fb;
|
||||
--surface: #ffffff;
|
||||
--line: #d8dee9;
|
||||
--text: #172033;
|
||||
--muted: #5b667a;
|
||||
--accent: #007c89;
|
||||
--good: #12805c;
|
||||
--warn: #b7791f;
|
||||
--bad: #b42318;
|
||||
}
|
||||
|
||||
* {
|
||||
box-sizing: border-box;
|
||||
}
|
||||
|
||||
body {
|
||||
margin: 0;
|
||||
min-height: 100vh;
|
||||
background: var(--bg);
|
||||
color: var(--text);
|
||||
font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif;
|
||||
font-size: 15px;
|
||||
letter-spacing: 0;
|
||||
}
|
||||
|
||||
header {
|
||||
border-bottom: 1px solid var(--line);
|
||||
background: var(--surface);
|
||||
}
|
||||
|
||||
.topbar {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
gap: 16px;
|
||||
width: min(1180px, calc(100% - 32px));
|
||||
margin: 0 auto;
|
||||
padding: 18px 0;
|
||||
}
|
||||
|
||||
h1 {
|
||||
margin: 0;
|
||||
font-size: 22px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
button {
|
||||
min-height: 36px;
|
||||
padding: 0 14px;
|
||||
border: 1px solid var(--accent);
|
||||
border-radius: 6px;
|
||||
background: var(--accent);
|
||||
color: #ffffff;
|
||||
font: inherit;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
button:disabled {
|
||||
opacity: 0.6;
|
||||
cursor: default;
|
||||
}
|
||||
|
||||
/* 顶部操作区按钮和外链按钮共用同一组视觉样式，便于现场顺手跳转。 */
|
||||
.actions {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 10px;
|
||||
}
|
||||
|
||||
.link-button {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
min-height: 36px;
|
||||
padding: 0 14px;
|
||||
border: 1px solid var(--accent);
|
||||
border-radius: 6px;
|
||||
background: transparent;
|
||||
color: var(--accent);
|
||||
font: inherit;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.link-button:hover {
|
||||
background: rgba(0, 124, 137, 0.08);
|
||||
}
|
||||
|
||||
main {
|
||||
width: min(1180px, calc(100% - 32px));
|
||||
margin: 22px auto;
|
||||
}
|
||||
|
||||
.summary {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(4, minmax(0, 1fr));
|
||||
gap: 12px;
|
||||
margin-bottom: 16px;
|
||||
}
|
||||
|
||||
.metric,
|
||||
section {
|
||||
border: 1px solid var(--line);
|
||||
border-radius: 8px;
|
||||
background: var(--surface);
|
||||
}
|
||||
|
||||
.metric {
|
||||
min-height: 86px;
|
||||
padding: 14px;
|
||||
}
|
||||
|
||||
.label {
|
||||
color: var(--muted);
|
||||
font-size: 13px;
|
||||
}
|
||||
|
||||
.value {
|
||||
margin-top: 8px;
|
||||
overflow-wrap: anywhere;
|
||||
font-size: 24px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.status-row {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 8px;
|
||||
}
|
||||
|
||||
.dot {
|
||||
width: 12px;
|
||||
height: 12px;
|
||||
flex: 0 0 12px;
|
||||
border-radius: 999px;
|
||||
background: var(--warn);
|
||||
}
|
||||
|
||||
.dot.good {
|
||||
background: var(--good);
|
||||
}
|
||||
|
||||
.dot.bad {
|
||||
background: var(--bad);
|
||||
}
|
||||
|
||||
.grid {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(2, minmax(0, 1fr));
|
||||
gap: 16px;
|
||||
}
|
||||
|
||||
section h2 {
|
||||
margin: 0;
|
||||
padding: 14px 16px;
|
||||
border-bottom: 1px solid var(--line);
|
||||
font-size: 16px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
dl {
|
||||
display: grid;
|
||||
grid-template-columns: 160px minmax(0, 1fr);
|
||||
gap: 0;
|
||||
margin: 0;
|
||||
padding: 4px 16px 12px;
|
||||
}
|
||||
|
||||
dt,
|
||||
dd {
|
||||
min-height: 36px;
|
||||
margin: 0;
|
||||
padding: 9px 0;
|
||||
border-bottom: 1px solid #edf1f7;
|
||||
}
|
||||
|
||||
dt {
|
||||
color: var(--muted);
|
||||
}
|
||||
|
||||
dd {
|
||||
overflow-wrap: anywhere;
|
||||
font-family: Consolas, "Cascadia Mono", monospace;
|
||||
}
|
||||
|
||||
.empty {
|
||||
color: var(--muted);
|
||||
font-family: inherit;
|
||||
}
|
||||
|
||||
@media (max-width: 820px) {
|
||||
.topbar {
|
||||
align-items: flex-start;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
.summary,
|
||||
.grid {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
|
||||
dl {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
|
||||
dt {
|
||||
border-bottom: 0;
|
||||
padding-bottom: 2px;
|
||||
}
|
||||
|
||||
dd {
|
||||
padding-top: 2px;
|
||||
}
|
||||
}
|
||||
92
src/Flyshot.Server.Host/wwwroot/assets/status.js
Normal file
92
src/Flyshot.Server.Host/wwwroot/assets/status.js
Normal file
@@ -0,0 +1,92 @@
|
||||
const fields = {
|
||||
connectionState: document.getElementById("connection-state"),
|
||||
stateDot: document.getElementById("state-dot"),
|
||||
robotName: document.getElementById("robot-name"),
|
||||
speedRatio: document.getElementById("speed-ratio"),
|
||||
motionState: document.getElementById("motion-state"),
|
||||
serverVersion: document.getElementById("server-version"),
|
||||
clientVersion: document.getElementById("client-version"),
|
||||
setupState: document.getElementById("setup-state"),
|
||||
enabledState: document.getElementById("enabled-state"),
|
||||
j519Status: document.getElementById("j519-status"),
|
||||
j519Sequence: document.getElementById("j519-sequence"),
|
||||
capturedAt: document.getElementById("captured-at"),
|
||||
dof: document.getElementById("dof"),
|
||||
joints: document.getElementById("joints"),
|
||||
pose: document.getElementById("pose"),
|
||||
trajectories: document.getElementById("trajectories"),
|
||||
refresh: document.getElementById("refresh")
|
||||
};
|
||||
|
||||
function formatArray(values) {
|
||||
if (!Array.isArray(values) || values.length === 0) {
|
||||
return "--";
|
||||
}
|
||||
|
||||
return values.map(value => Number(value).toFixed(4)).join(", ");
|
||||
}
|
||||
|
||||
function formatNullableBool(value) {
|
||||
if (value === true) {
|
||||
return "是";
|
||||
}
|
||||
|
||||
if (value === false) {
|
||||
return "否";
|
||||
}
|
||||
|
||||
return "--";
|
||||
}
|
||||
|
||||
function formatJ519Status(snapshot) {
|
||||
if (snapshot.j519Status === null || snapshot.j519Status === undefined) {
|
||||
return "--";
|
||||
}
|
||||
|
||||
const status = Number(snapshot.j519Status).toString(16).padStart(2, "0").toUpperCase();
|
||||
return `0x${status} accept=${formatNullableBool(snapshot.j519AcceptsCommand)} received=${formatNullableBool(snapshot.j519ReceivedCommand)} sysrdy=${formatNullableBool(snapshot.j519SystemReady)} motion=${formatNullableBool(snapshot.j519RobotInMotion)}`;
|
||||
}
|
||||
|
||||
function setDot(connectionState) {
|
||||
fields.stateDot.className = "dot";
|
||||
if (connectionState === "Connected") {
|
||||
fields.stateDot.classList.add("good");
|
||||
} else if (connectionState === "NotConfigured") {
|
||||
fields.stateDot.classList.add("bad");
|
||||
}
|
||||
}
|
||||
|
||||
async function refreshStatus() {
|
||||
fields.refresh.disabled = true;
|
||||
try {
|
||||
const response = await fetch("/api/status/snapshot", { cache: "no-store" });
|
||||
const payload = await response.json();
|
||||
const snapshot = payload.snapshot;
|
||||
|
||||
fields.connectionState.textContent = snapshot.connectionState;
|
||||
fields.robotName.textContent = payload.robotName || "--";
|
||||
fields.speedRatio.textContent = Number(snapshot.speedRatio).toFixed(2);
|
||||
fields.motionState.textContent = snapshot.isInMotion ? "是" : "否";
|
||||
fields.serverVersion.textContent = payload.serverVersion;
|
||||
fields.clientVersion.textContent = payload.clientVersion;
|
||||
fields.setupState.textContent = payload.isSetup ? "是" : "否";
|
||||
fields.enabledState.textContent = snapshot.isEnabled ? "是" : "否";
|
||||
fields.j519Status.textContent = formatJ519Status(snapshot);
|
||||
fields.j519Sequence.textContent = snapshot.j519Sequence ?? "--";
|
||||
fields.capturedAt.textContent = new Date(snapshot.capturedAt).toLocaleString();
|
||||
fields.dof.textContent = payload.degreesOfFreedom;
|
||||
fields.joints.textContent = formatArray(snapshot.jointPositions);
|
||||
fields.pose.textContent = formatArray(snapshot.cartesianPose);
|
||||
fields.trajectories.textContent = payload.uploadedTrajectories.length > 0
|
||||
? payload.uploadedTrajectories.join(", ")
|
||||
: "--";
|
||||
fields.trajectories.classList.toggle("empty", payload.uploadedTrajectories.length === 0);
|
||||
setDot(snapshot.connectionState);
|
||||
} finally {
|
||||
fields.refresh.disabled = false;
|
||||
}
|
||||
}
|
||||
|
||||
fields.refresh.addEventListener("click", refreshStatus);
|
||||
refreshStatus();
|
||||
window.setInterval(refreshStatus, 2000);
|
||||
44
src/Flyshot.Server.Host/wwwroot/debug.html
Normal file
44
src/Flyshot.Server.Host/wwwroot/debug.html
Normal file
@@ -0,0 +1,44 @@
|
||||
<!doctype html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<title>Flyshot Replacement 接口调试</title>
|
||||
<link rel="stylesheet" href="/assets/debug.css">
|
||||
</head>
|
||||
<body>
|
||||
<header>
|
||||
<div class="topbar">
|
||||
<h1>Flyshot Replacement 接口调试</h1>
|
||||
<div class="actions">
|
||||
<a class="link-button" href="/status.html">回到状态页</a>
|
||||
<a class="link-button" href="/swagger" target="_blank" rel="noopener">Swagger UI</a>
|
||||
<button id="reload-spec" type="button">重新加载 OpenAPI</button>
|
||||
</div>
|
||||
</div>
|
||||
</header>
|
||||
<main>
|
||||
<section class="meta">
|
||||
<dl>
|
||||
<dt>OpenAPI 文档</dt>
|
||||
<dd id="meta-spec-url">--</dd>
|
||||
<dt>API 数量</dt>
|
||||
<dd id="meta-operation-count">--</dd>
|
||||
<dt>加载状态</dt>
|
||||
<dd id="meta-status">初始化中...</dd>
|
||||
</dl>
|
||||
</section>
|
||||
<div id="debug-console-app">
|
||||
<div class="empty-hint">正在加载接口列表...</div>
|
||||
</div>
|
||||
</main>
|
||||
<aside class="history" id="history-panel">
|
||||
<h3>
|
||||
<span>调用历史 (本次会话)</span>
|
||||
<button type="button" id="history-clear" class="secondary">清空</button>
|
||||
</h3>
|
||||
<ul id="history-list"></ul>
|
||||
</aside>
|
||||
<script src="/assets/debug.js" defer></script>
|
||||
</body>
|
||||
</html>
|
||||
64
src/Flyshot.Server.Host/wwwroot/status.html
Normal file
64
src/Flyshot.Server.Host/wwwroot/status.html
Normal file
@@ -0,0 +1,64 @@
|
||||
<!doctype html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<title>Flyshot Replacement 状态监控</title>
|
||||
<link rel="stylesheet" href="/assets/status.css">
|
||||
</head>
|
||||
<body>
|
||||
<header>
|
||||
<div class="topbar">
|
||||
<h1>Flyshot Replacement 状态监控</h1>
|
||||
<div class="actions">
|
||||
<a class="link-button" href="/debug.html" target="_blank" rel="noopener">调试接口</a>
|
||||
<button id="refresh" type="button">刷新</button>
|
||||
</div>
|
||||
</div>
|
||||
</header>
|
||||
<main>
|
||||
<div class="summary">
|
||||
<div class="metric">
|
||||
<div class="label">连接状态</div>
|
||||
<div class="value status-row"><span id="state-dot" class="dot"></span><span id="connection-state">--</span></div>
|
||||
</div>
|
||||
<div class="metric">
|
||||
<div class="label">机器人</div>
|
||||
<div id="robot-name" class="value">--</div>
|
||||
</div>
|
||||
<div class="metric">
|
||||
<div class="label">速度倍率</div>
|
||||
<div id="speed-ratio" class="value">--</div>
|
||||
</div>
|
||||
<div class="metric">
|
||||
<div class="label">运动中</div>
|
||||
<div id="motion-state" class="value">--</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid">
|
||||
<section>
|
||||
<h2>控制器</h2>
|
||||
<dl>
|
||||
<dt>服务端版本</dt><dd id="server-version">--</dd>
|
||||
<dt>客户端版本</dt><dd id="client-version">--</dd>
|
||||
<dt>已初始化</dt><dd id="setup-state">--</dd>
|
||||
<dt>已使能</dt><dd id="enabled-state">--</dd>
|
||||
<dt>J519 状态</dt><dd id="j519-status">--</dd>
|
||||
<dt>J519 序号</dt><dd id="j519-sequence">--</dd>
|
||||
<dt>采样时间</dt><dd id="captured-at">--</dd>
|
||||
</dl>
|
||||
</section>
|
||||
<section>
|
||||
<h2>机器人</h2>
|
||||
<dl>
|
||||
<dt>自由度</dt><dd id="dof">--</dd>
|
||||
<dt>关节位置</dt><dd id="joints">--</dd>
|
||||
<dt>TCP 位姿</dt><dd id="pose">--</dd>
|
||||
<dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</div>
|
||||
</main>
|
||||
<script src="/assets/status.js" defer></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,10 +1,9 @@
|
||||
using Flyshot.Core.Config;
|
||||
using Flyshot.Core.Domain;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// 锁定 Task 3 的兼容输入行为，确保旧配置、.robot 元数据和路径策略都能被稳定加载。
|
||||
/// 锁定 Task 3 的兼容输入行为，确保旧配置、JSON 模型元数据和路径策略都能被稳定加载。
|
||||
/// </summary>
|
||||
public sealed class ConfigCompatibilityTests
|
||||
{
|
||||
@@ -24,6 +23,8 @@ public sealed class ConfigCompatibilityTests
|
||||
Assert.Equal(2, loaded.Robot.IoKeepCycles);
|
||||
Assert.Equal(1.0, loaded.Robot.AccLimitScale);
|
||||
Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
|
||||
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
|
||||
Assert.True(loaded.Robot.SmoothStartStopTiming);
|
||||
Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
|
||||
|
||||
var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
|
||||
@@ -71,6 +72,8 @@ public sealed class ConfigCompatibilityTests
|
||||
Assert.Equal(3, loaded.Robot.IoKeepCycles);
|
||||
Assert.Equal(0.5, loaded.Robot.AccLimitScale);
|
||||
Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
|
||||
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
|
||||
Assert.True(loaded.Robot.SmoothStartStopTiming);
|
||||
Assert.Equal([0, 0, 0], program.OffsetValues);
|
||||
Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
|
||||
}
|
||||
@@ -81,13 +84,93 @@ public sealed class ConfigCompatibilityTests
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 .robot 解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
|
||||
/// 验证 RobotConfig.json 可以显式配置规划限速倍率，且该倍率独立于运行时 J519 速度倍率。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void RobotConfigLoader_LoadsPlanningSpeedScale()
|
||||
{
|
||||
var tempRoot = CreateTempDirectory();
|
||||
try
|
||||
{
|
||||
var configPath = Path.Combine(tempRoot, "legacy.json");
|
||||
File.WriteAllText(
|
||||
configPath,
|
||||
"""
|
||||
{
|
||||
"robot": {
|
||||
"use_do": true,
|
||||
"io_keep_cycles": 2,
|
||||
"acc_limit": 1.0,
|
||||
"jerk_limit": 1.0,
|
||||
"planning_speed_scale": 0.742277
|
||||
},
|
||||
"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(0.742277, loaded.Robot.PlanningSpeedScale, precision: 6);
|
||||
}
|
||||
finally
|
||||
{
|
||||
Directory.Delete(tempRoot, recursive: true);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void RobotConfigLoader_LoadsSmoothStartStopTimingSwitch()
|
||||
{
|
||||
var tempRoot = CreateTempDirectory();
|
||||
try
|
||||
{
|
||||
var configPath = Path.Combine(tempRoot, "legacy.json");
|
||||
File.WriteAllText(
|
||||
configPath,
|
||||
"""
|
||||
{
|
||||
"robot": {
|
||||
"use_do": true,
|
||||
"io_keep_cycles": 2,
|
||||
"acc_limit": 1.0,
|
||||
"jerk_limit": 1.0,
|
||||
"smooth_start_stop_timing": false
|
||||
},
|
||||
"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.False(loaded.Robot.SmoothStartStopTiming);
|
||||
}
|
||||
finally
|
||||
{
|
||||
Directory.Delete(tempRoot, recursive: true);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 JSON 模型解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
|
||||
{
|
||||
var workspaceRoot = GetWorkspaceRoot();
|
||||
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
|
||||
var replacementRoot = GetReplacementRoot();
|
||||
var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
|
||||
|
||||
var profile = new RobotModelLoader().LoadProfile(modelPath);
|
||||
|
||||
@@ -105,13 +188,13 @@ public sealed class ConfigCompatibilityTests
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到模型关节限制上。
|
||||
/// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到 JSON 模型关节限制上。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void RobotModelLoader_AppliesAccelerationAndJerkScales()
|
||||
{
|
||||
var workspaceRoot = GetWorkspaceRoot();
|
||||
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
|
||||
var replacementRoot = GetReplacementRoot();
|
||||
var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
|
||||
|
||||
var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
|
||||
|
||||
@@ -120,10 +203,57 @@ public sealed class ConfigCompatibilityTests
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证路径兼容层既能补旧目录候选，也能按平台策略生成默认用户数据目录。
|
||||
/// 验证 JSON 模型可一次解析后同时生成规划约束视图和运动学几何视图。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void PathCompatibility_ResolvesLegacyCandidates_AndBuildsUserDataRoots()
|
||||
public void RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
|
||||
{
|
||||
var replacementRoot = GetReplacementRoot();
|
||||
var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
|
||||
|
||||
var loaded = new RobotModelLoader().LoadProfileAndKinematics(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
|
||||
|
||||
Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.Profile.Name);
|
||||
Assert.Equal(modelPath, loaded.Profile.ModelPath);
|
||||
Assert.Equal(6, loaded.Profile.DegreesOfFreedom);
|
||||
Assert.Equal(14.905, loaded.Profile.JointLimits[2].AccelerationLimit, precision: 3);
|
||||
Assert.Equal(62.115, loaded.Profile.JointLimits[2].JerkLimit, precision: 3);
|
||||
|
||||
Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.KinematicsModel.Name);
|
||||
Assert.True(loaded.KinematicsModel.Joints.Count >= loaded.Profile.DegreesOfFreedom);
|
||||
Assert.Contains(loaded.KinematicsModel.Joints, static joint => joint.Name == "Joint3" && joint.CoupleMaster == "Joint2");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证路径兼容层只从当前服务配置目录解析相对配置，并按平台策略生成默认用户数据目录。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void PathCompatibility_ResolvesConfigDirectoryOnly_AndBuildsUserDataRoots()
|
||||
{
|
||||
var tempRoot = CreateTempDirectory();
|
||||
try
|
||||
{
|
||||
var configPath = Path.Combine(tempRoot, "Config", "sample.json");
|
||||
Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
|
||||
File.WriteAllText(configPath, "{}");
|
||||
|
||||
var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
|
||||
|
||||
Assert.Equal(configPath, resolved);
|
||||
Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
|
||||
Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
|
||||
}
|
||||
finally
|
||||
{
|
||||
Directory.Delete(tempRoot, recursive: true);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证旧父工作区候选路径存在时也不会被相对配置解析隐式命中。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void PathCompatibility_DoesNotResolveLegacyWorkspaceFallbacks()
|
||||
{
|
||||
var tempRoot = CreateTempDirectory();
|
||||
try
|
||||
@@ -132,11 +262,9 @@ public sealed class ConfigCompatibilityTests
|
||||
Directory.CreateDirectory(Path.GetDirectoryName(legacyConfigPath)!);
|
||||
File.WriteAllText(legacyConfigPath, "{}");
|
||||
|
||||
var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
|
||||
var exception = Assert.Throws<FileNotFoundException>(() => PathCompatibility.ResolveConfigPath("sample.json", tempRoot));
|
||||
|
||||
Assert.Equal(legacyConfigPath, resolved);
|
||||
Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
|
||||
Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
|
||||
Assert.Equal("sample.json", exception.FileName);
|
||||
}
|
||||
finally
|
||||
{
|
||||
@@ -144,6 +272,19 @@ public sealed class ConfigCompatibilityTests
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证默认加载配置时使用当前 replacement 仓库内的 Config/RobotConfig.json。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void RobotConfigLoader_LoadsRepositoryConfigFromReplacementConfigDirectory()
|
||||
{
|
||||
var replacementRoot = GetReplacementRoot();
|
||||
|
||||
var loaded = new RobotConfigLoader().Load("RobotConfig.json");
|
||||
|
||||
Assert.Equal(Path.Combine(replacementRoot, "Config", "RobotConfig.json"), loaded.SourcePath);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 定位当前工作区根目录，便于复用父仓库中的真实样本。
|
||||
/// </summary>
|
||||
@@ -164,6 +305,25 @@ public sealed class ConfigCompatibilityTests
|
||||
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 定位 replacement 仓库根目录，供测试读取仓库内固化配置。
|
||||
/// </summary>
|
||||
private static string GetReplacementRoot()
|
||||
{
|
||||
var current = new DirectoryInfo(AppContext.BaseDirectory);
|
||||
while (current is not null)
|
||||
{
|
||||
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
|
||||
{
|
||||
return current.FullName;
|
||||
}
|
||||
|
||||
current = current.Parent;
|
||||
}
|
||||
|
||||
throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 创建当前测试专用的临时目录，避免不同测试之间相互污染。
|
||||
/// </summary>
|
||||
|
||||
@@ -0,0 +1,149 @@
|
||||
using Flyshot.ControllerClientCompat;
|
||||
using Flyshot.Core.Config;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// 验证 ControllerClient 兼容层默认围绕运行目录 Config 读写配置和轨迹文件。
|
||||
/// </summary>
|
||||
public sealed class ControllerClientCompatConfigRootTests
|
||||
{
|
||||
/// <summary>
|
||||
/// 验证路径兼容层优先命中运行目录 Config 下的 RobotConfig.json，而不是旧仓库根目录候选。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void PathCompatibility_ResolvesRuntimeConfigBeforeLegacyCandidates()
|
||||
{
|
||||
var runtimeRoot = CreateTempDirectory();
|
||||
try
|
||||
{
|
||||
var configPath = Path.Combine(runtimeRoot, "Config", "RobotConfig.json");
|
||||
var legacyPath = Path.Combine(runtimeRoot, "RobotConfig.json");
|
||||
Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
|
||||
File.WriteAllText(configPath, "{}");
|
||||
File.WriteAllText(legacyPath, "{}");
|
||||
|
||||
var resolved = PathCompatibility.ResolveConfigPath("RobotConfig.json", runtimeRoot);
|
||||
|
||||
Assert.Equal(configPath, resolved);
|
||||
}
|
||||
finally
|
||||
{
|
||||
Directory.Delete(runtimeRoot, recursive: true);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证机器人目录优先从显式 ConfigRoot/Models 加载现场 JSON 模型文件。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void ControllerClientCompatRobotCatalog_LoadsModelFromConfigRootModels()
|
||||
{
|
||||
var configRoot = CreateTempConfigRoot();
|
||||
try
|
||||
{
|
||||
CopySampleRobotModel(configRoot);
|
||||
var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
|
||||
var catalog = new ControllerClientCompatRobotCatalog(options, new RobotModelLoader());
|
||||
|
||||
var profile = catalog.LoadProfile("FANUC_LR_Mate_200iD");
|
||||
|
||||
Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.json"), profile.ModelPath);
|
||||
}
|
||||
finally
|
||||
{
|
||||
Directory.Delete(configRoot, recursive: true);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 JSON 轨迹存储保存、加载和删除都落在 ConfigRoot/RobotConfig.json。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void JsonFlyshotTrajectoryStore_PersistsTrajectoriesInRobotConfigJson()
|
||||
{
|
||||
var configRoot = CreateTempConfigRoot();
|
||||
try
|
||||
{
|
||||
var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
|
||||
var store = new JsonFlyshotTrajectoryStore(options, new RobotConfigLoader());
|
||||
var settings = new CompatibilityRobotSettings(
|
||||
useDo: true,
|
||||
ioAddresses: [7, 8],
|
||||
ioKeepCycles: 2,
|
||||
accLimitScale: 1.0,
|
||||
jerkLimitScale: 1.0,
|
||||
adaptIcspTryNum: 5);
|
||||
var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
|
||||
|
||||
store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
|
||||
var expectedPath = Path.Combine(configRoot, "RobotConfig.json");
|
||||
|
||||
Assert.True(File.Exists(expectedPath), $"应在运行目录 Config 下创建统一配置文件: {expectedPath}");
|
||||
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.Contains(trajectory.Name, loaded);
|
||||
|
||||
store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);
|
||||
|
||||
var afterDelete = store.LoadAll("FANUC_LR_Mate_200iD", out _);
|
||||
Assert.Empty(afterDelete);
|
||||
}
|
||||
finally
|
||||
{
|
||||
Directory.Delete(configRoot, recursive: true);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 创建测试专用的运行目录 Config 根，避免污染真实输出目录。
|
||||
/// </summary>
|
||||
private static string CreateTempConfigRoot()
|
||||
{
|
||||
var root = Path.Combine(Path.GetTempPath(), "flyshot-config-root-tests", Guid.NewGuid().ToString("N"), "Config");
|
||||
Directory.CreateDirectory(root);
|
||||
return root;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 创建测试专用的临时目录。
|
||||
/// </summary>
|
||||
private static string CreateTempDirectory()
|
||||
{
|
||||
var root = Path.Combine(Path.GetTempPath(), "flyshot-config-root-tests", Guid.NewGuid().ToString("N"));
|
||||
Directory.CreateDirectory(root);
|
||||
return root;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 复制仓库内已固化的现场机器人 JSON 模型到临时 Config/Models 目录。
|
||||
/// </summary>
|
||||
private static void CopySampleRobotModel(string configRoot)
|
||||
{
|
||||
var modelDir = Path.Combine(configRoot, "Models");
|
||||
Directory.CreateDirectory(modelDir);
|
||||
File.Copy(
|
||||
Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.json"),
|
||||
Path.Combine(modelDir, "LR_Mate_200iD_7L.json"));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 定位 replacement 仓库根目录，供测试读取仓库内固化样本。
|
||||
/// </summary>
|
||||
private static string GetReplacementRoot()
|
||||
{
|
||||
var current = new DirectoryInfo(AppContext.BaseDirectory);
|
||||
while (current is not null)
|
||||
{
|
||||
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
|
||||
{
|
||||
return current.FullName;
|
||||
}
|
||||
|
||||
current = current.Parent;
|
||||
}
|
||||
|
||||
throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
|
||||
}
|
||||
}
|
||||
@@ -99,7 +99,7 @@ public sealed class FanucCommandClientTests : IDisposable
|
||||
{
|
||||
using var client = new FanucCommandClient();
|
||||
var expectedFrame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, "RVBUSTSM");
|
||||
var responseFrame = Convert.FromHexString("646f7a000000160000200300000000000000017a6f64");
|
||||
var responseFrame = Convert.FromHexString("646f7a000000160000200300000001000000007a6f64");
|
||||
var handlerTask = RunSingleResponseControllerAsync(expectedFrame, responseFrame, _cts.Token);
|
||||
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,32 @@
|
||||
using Flyshot.Runtime.Common;
|
||||
using Flyshot.Runtime.Fanuc;
|
||||
using Microsoft.Extensions.DependencyInjection;
|
||||
using System.Reflection;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// 验证 FANUC 运行时通过依赖注入解析时，能够稳定拿到日志依赖。
|
||||
/// </summary>
|
||||
public sealed class FanucControllerRuntimeLoggingRegistrationTests
|
||||
{
|
||||
/// <summary>
|
||||
/// 验证宿主按 IControllerRuntime 解析 FANUC 运行时时，不会因为可选日志参数而退回到无日志实例。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void ServiceProvider_Resolves_FanucControllerRuntime_WithLogger()
|
||||
{
|
||||
var services = new ServiceCollection();
|
||||
services.AddLogging();
|
||||
services.AddSingleton<IControllerRuntime, FanucControllerRuntime>();
|
||||
|
||||
using var serviceProvider = services.BuildServiceProvider();
|
||||
|
||||
var runtime = serviceProvider.GetRequiredService<IControllerRuntime>();
|
||||
var concreteRuntime = Assert.IsType<FanucControllerRuntime>(runtime);
|
||||
var loggerField = typeof(FanucControllerRuntime).GetField("_logger", BindingFlags.Instance | BindingFlags.NonPublic);
|
||||
|
||||
Assert.NotNull(loggerField);
|
||||
Assert.NotNull(loggerField!.GetValue(concreteRuntime));
|
||||
}
|
||||
}
|
||||
@@ -2,11 +2,12 @@ using System.Buffers.Binary;
|
||||
using System.Net;
|
||||
using System.Net.Sockets;
|
||||
using Flyshot.Runtime.Fanuc.Protocol;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// 验证 FANUC UDP 60015 J519 运动客户端的初始化、周期发送与响应解析。
|
||||
/// 验证 FANUC UDP 60015 J519 运动客户端的初始化、状态包驱动发送与响应解析。
|
||||
/// </summary>
|
||||
public sealed class FanucJ519ClientTests : IDisposable
|
||||
{
|
||||
@@ -54,25 +55,24 @@ public sealed class FanucJ519ClientTests : IDisposable
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证启动运动后能按周期发送命令包。
|
||||
/// 验证启动运动后必须等到状态包到达，不能由上位机本地 8ms 循环主动发命令。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_SendsPeriodicCommands()
|
||||
public async Task StartMotion_WaitsForStatusPacketBeforeSendingCommand()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
|
||||
// 接收并丢弃初始化包。
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
var command = new FanucJ519Command(sequence: 1, targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
|
||||
client.UpdateCommand(command);
|
||||
client.StartMotion();
|
||||
|
||||
// 接收至少一个命令包。
|
||||
var commandResult = await _server.ReceiveAsync(_cts.Token);
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, commandResult.Buffer.Length);
|
||||
Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(commandResult.Buffer.AsSpan(0x08, 4)));
|
||||
// 机器人尚未回状态包时，上位机不应自行发 64B command packet。
|
||||
await Assert.ThrowsAsync<TimeoutException>(
|
||||
() => _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromMilliseconds(120)));
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
}
|
||||
@@ -140,30 +140,214 @@ public sealed class FanucJ519ClientTests : IDisposable
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 UpdateCommand 替换当前命令后下一周期发送新命令。
|
||||
/// 验证收到状态包后，下一帧命令使用该状态包的序号。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task UpdateCommand_ReplacesCurrentCommand()
|
||||
public async Task StartMotion_UsesLatestStatusSequenceForFirstCommand()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
await _server.ReceiveAsync(_cts.Token); // init
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
var command1 = new FanucJ519Command(sequence: 1, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
|
||||
var command2 = new FanucJ519Command(sequence: 2, targetJoints: [2.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
|
||||
|
||||
client.UpdateCommand(command1);
|
||||
var command = new FanucJ519Command(sequence: 1, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
|
||||
client.UpdateCommand(command);
|
||||
client.StartMotion();
|
||||
|
||||
var result1 = await _server.ReceiveAsync(_cts.Token);
|
||||
Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(result1.Buffer.AsSpan(0x08, 4)));
|
||||
Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(result1.Buffer.AsSpan(0x1c, 4)), precision: 6);
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 100);
|
||||
|
||||
client.UpdateCommand(command2);
|
||||
var result = await _server.ReceiveAsync(_cts.Token);
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, result.Buffer.Length);
|
||||
Assert.Equal(100u, BinaryPrimitives.ReadUInt32BigEndian(result.Buffer.AsSpan(0x08, 4)));
|
||||
Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(result.Buffer.AsSpan(0x1c, 4)), precision: 6);
|
||||
|
||||
var result2 = await _server.ReceiveAsync(_cts.Token);
|
||||
Assert.Equal(2u, BinaryPrimitives.ReadUInt32BigEndian(result2.Buffer.AsSpan(0x08, 4)));
|
||||
Assert.Equal(2.0f, BinaryPrimitives.ReadSingleBigEndian(result2.Buffer.AsSpan(0x1c, 4)), precision: 6);
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证配置 J519 buffer size 后，实际回发命令序号会在状态包序号基础上增加该缓冲深度。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_AddsConfiguredBufferSizeToStatusSequence()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
client.SetSequenceBufferSize(8);
|
||||
client.UpdateCommand(new FanucJ519Command(sequence: 1, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
|
||||
client.StartMotion();
|
||||
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 100);
|
||||
|
||||
var result = await _server.ReceiveAsync(_cts.Token);
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, result.Buffer.Length);
|
||||
Assert.Equal(108u, BinaryPrimitives.ReadUInt32BigEndian(result.Buffer.AsSpan(0x08, 4)));
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证连续状态包会逐包驱动命令发送，并使用各自的状态包序号。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_SendsOneCommandForEachStatusPacketWithMatchingSequence()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
var command = new FanucJ519Command(sequence: 99, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
|
||||
client.UpdateCommand(command);
|
||||
client.StartMotion();
|
||||
|
||||
var packets = new List<byte[]>();
|
||||
for (uint sequence = 100; sequence < 104; sequence++)
|
||||
{
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence);
|
||||
var result = await _server.ReceiveAsync(_cts.Token);
|
||||
packets.Add(result.Buffer);
|
||||
}
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
|
||||
var sequences = packets
|
||||
.Select(packet => BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)))
|
||||
.ToArray();
|
||||
Assert.Equal([100u, 101u, 102u, 103u], sequences);
|
||||
Assert.All(packets, packet => Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)), precision: 6));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证预装命令队列会被机器人状态包逐帧出队，队列耗尽后继续保持最后目标。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_DequeuesPreparedCommandsForStatusPacketsAndHoldsLastCommand()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
client.StartMotion();
|
||||
client.LoadCommandQueue(
|
||||
[
|
||||
new FanucJ519Command(sequence: 0, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
|
||||
new FanucJ519Command(sequence: 0, targetJoints: [2.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
|
||||
new FanucJ519Command(sequence: 0, targetJoints: [3.0, 0.0, 0.0, 0.0, 0.0, 0.0])
|
||||
]);
|
||||
|
||||
var packets = new List<byte[]>();
|
||||
for (uint sequence = 700; sequence < 704; sequence++)
|
||||
{
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence);
|
||||
var result = await _server.ReceiveAsync(_cts.Token);
|
||||
packets.Add(result.Buffer);
|
||||
}
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
|
||||
var sequences = packets
|
||||
.Select(packet => BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)))
|
||||
.ToArray();
|
||||
var firstJointTargets = packets
|
||||
.Select(packet => BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)))
|
||||
.ToArray();
|
||||
|
||||
Assert.Equal([700u, 701u, 702u, 703u], sequences);
|
||||
Assert.Equal([1.0f, 2.0f, 3.0f, 3.0f], firstJointTargets);
|
||||
Assert.True(client.IsCommandQueueDrainedForTests());
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证停止运动后可在同一连接内重启发送，命令序号仍由新的状态包决定。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_CanRestartAfterStopMotionAndUseNewStatusSequence()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
client.UpdateCommand(new FanucJ519Command(sequence: 10, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
|
||||
client.StartMotion();
|
||||
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 200);
|
||||
var first = await _server.ReceiveAsync(_cts.Token);
|
||||
var firstSequence = BinaryPrimitives.ReadUInt32BigEndian(first.Buffer.AsSpan(0x08, 4));
|
||||
Assert.Equal(200u, firstSequence);
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
|
||||
byte[] packet;
|
||||
do
|
||||
{
|
||||
packet = (await _server.ReceiveAsync(_cts.Token)).Buffer;
|
||||
}
|
||||
while (packet.Length != FanucJ519Protocol.ControlPacketLength);
|
||||
|
||||
client.UpdateCommand(new FanucJ519Command(sequence: 20, targetJoints: [2.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
|
||||
client.StartMotion();
|
||||
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 300);
|
||||
var restarted = await _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
|
||||
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, restarted.Buffer.Length);
|
||||
Assert.Equal(300u, BinaryPrimitives.ReadUInt32BigEndian(restarted.Buffer.AsSpan(0x08, 4)));
|
||||
Assert.Equal(2.0f, BinaryPrimitives.ReadSingleBigEndian(restarted.Buffer.AsSpan(0x1c, 4)), precision: 6);
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证没有显式目标时，会使用最近一帧状态反馈里的关节角持续构造 hold 命令。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_WithoutExplicitCommand_HoldsLatestResponseJointDegrees()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
client.StartMotion();
|
||||
|
||||
await SendStatusPacketAsync(
|
||||
initResult.RemoteEndPoint,
|
||||
sequence: 401,
|
||||
jointDegrees: [10.0, 20.0, 30.0, 40.0, 50.0, 60.0]);
|
||||
var holdPacket = await _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
|
||||
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, holdPacket.Buffer.Length);
|
||||
Assert.Equal(401u, BinaryPrimitives.ReadUInt32BigEndian(holdPacket.Buffer.AsSpan(0x08, 4)));
|
||||
Assert.Equal(10.0f, BinaryPrimitives.ReadSingleBigEndian(holdPacket.Buffer.AsSpan(0x1c, 4)), precision: 6);
|
||||
Assert.Equal(20.0f, BinaryPrimitives.ReadSingleBigEndian(holdPacket.Buffer.AsSpan(0x20, 4)), precision: 6);
|
||||
Assert.Equal(60.0f, BinaryPrimitives.ReadSingleBigEndian(holdPacket.Buffer.AsSpan(0x30, 4)), precision: 6);
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证存在显式目标时，状态反馈生成的 hold 命令不会覆盖当前待发送目标。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_WithExplicitCommand_PrefersExplicitTargetOverHoldCommand()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
client.UpdateCommand(new FanucJ519Command(sequence: 1, targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]));
|
||||
client.StartMotion();
|
||||
|
||||
await SendStatusPacketAsync(
|
||||
initResult.RemoteEndPoint,
|
||||
sequence: 402,
|
||||
jointDegrees: [10.0, 20.0, 30.0, 40.0, 50.0, 60.0]);
|
||||
var commandPacket = await _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
|
||||
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, commandPacket.Buffer.Length);
|
||||
Assert.Equal(402u, BinaryPrimitives.ReadUInt32BigEndian(commandPacket.Buffer.AsSpan(0x08, 4)));
|
||||
Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(commandPacket.Buffer.AsSpan(0x1c, 4)), precision: 6);
|
||||
Assert.Equal(2.0f, BinaryPrimitives.ReadSingleBigEndian(commandPacket.Buffer.AsSpan(0x20, 4)), precision: 6);
|
||||
Assert.Equal(6.0f, BinaryPrimitives.ReadSingleBigEndian(commandPacket.Buffer.AsSpan(0x30, 4)), precision: 6);
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
}
|
||||
@@ -179,41 +363,162 @@ public sealed class FanucJ519ClientTests : IDisposable
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 Stopwatch + SpinWait 发送循环能保持约 8ms 周期抖动在亚毫秒级。
|
||||
/// 验证状态包驱动发送能持续输出命令包。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task StartMotion_MaintainsSubMillisecondPeriod()
|
||||
public async Task StartMotion_MaintainsStatusDrivenCommandStream()
|
||||
{
|
||||
using var client = new FanucJ519Client();
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
await _server.ReceiveAsync(_cts.Token); // init
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
var command = new FanucJ519Command(sequence: 1, targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
|
||||
client.UpdateCommand(command);
|
||||
client.StartMotion();
|
||||
|
||||
// 收集 5 个命令包到达时间戳。
|
||||
// 收集 5 个命令包到达时间戳和序号。
|
||||
var timestamps = new List<DateTimeOffset>();
|
||||
var sequences = new List<uint>();
|
||||
for (var i = 0; i < 5; i++)
|
||||
{
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: (uint)(500 + i));
|
||||
var result = await _server.ReceiveAsync(_cts.Token);
|
||||
Assert.Equal(FanucJ519Protocol.CommandPacketLength, result.Buffer.Length);
|
||||
sequences.Add(BinaryPrimitives.ReadUInt32BigEndian(result.Buffer.AsSpan(0x08, 4)));
|
||||
timestamps.Add(DateTimeOffset.UtcNow);
|
||||
}
|
||||
|
||||
await client.StopMotionAsync(_cts.Token);
|
||||
|
||||
// 计算相邻包间隔并断言最大抖动。
|
||||
Assert.Equal([500u, 501u, 502u, 503u, 504u], sequences);
|
||||
|
||||
// 计算相邻包间隔并使用 CI 安全的宽松边界验证周期流仍在推进。
|
||||
var intervals = new List<TimeSpan>();
|
||||
for (var i = 1; i < timestamps.Count; i++)
|
||||
{
|
||||
intervals.Add(timestamps[i] - timestamps[i - 1]);
|
||||
}
|
||||
|
||||
// 允许 ±2ms 的测量误差（含 UDP 传输和调度延迟）。
|
||||
Assert.All(intervals, interval =>
|
||||
{
|
||||
Assert.True(interval >= TimeSpan.FromMilliseconds(6), $"间隔 {interval.TotalMilliseconds:F2}ms 过短。");
|
||||
Assert.True(interval <= TimeSpan.FromMilliseconds(10), $"间隔 {interval.TotalMilliseconds:F2}ms 过长。");
|
||||
Assert.True(interval > TimeSpan.Zero, $"间隔 {interval.TotalMilliseconds:F2}ms 必须为正。");
|
||||
Assert.True(interval <= TimeSpan.FromMilliseconds(30), $"间隔 {interval.TotalMilliseconds:F2}ms 过长。");
|
||||
});
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证状态变化日志会附带最近一次实际发送的目标关节轴，便于联调时对照控制目标。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task ReceiveLoop_LogsLastSentTargetJointsWhenStatusChanges()
|
||||
{
|
||||
var logger = new CapturingLogger<FanucJ519Client>();
|
||||
using var client = new FanucJ519Client(logger);
|
||||
await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
|
||||
var initResult = await _server.ReceiveAsync(_cts.Token);
|
||||
|
||||
client.UpdateCommand(new FanucJ519Command(sequence: 1, targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]));
|
||||
client.StartMotion();
|
||||
|
||||
await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 42);
|
||||
_ = await _server.ReceiveAsync(_cts.Token);
|
||||
await Task.Delay(200, _cts.Token);
|
||||
|
||||
Assert.Contains(
|
||||
logger.Entries,
|
||||
entry => entry.Level == LogLevel.Information
|
||||
&& entry.Message.Contains("J519 最后一条发送目标关节轴", StringComparison.Ordinal)
|
||||
&& entry.Message.Contains("1.00000, 2.00000, 3.00000, 4.00000, 5.00000, 6.00000", StringComparison.Ordinal));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 向被测 J519 客户端发送一帧最小状态包，用机器人侧 status sequence 驱动下一帧命令。
|
||||
/// </summary>
|
||||
private async Task SendStatusPacketAsync(
|
||||
IPEndPoint clientEndpoint,
|
||||
uint sequence,
|
||||
IReadOnlyList<double>? jointDegrees = null)
|
||||
{
|
||||
var responsePacket = new byte[FanucJ519Protocol.ResponsePacketLength];
|
||||
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x00, 4), 0);
|
||||
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x04, 4), 1);
|
||||
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x08, 4), sequence);
|
||||
responsePacket[0x0c] = 15;
|
||||
|
||||
if (jointDegrees is not null)
|
||||
{
|
||||
for (var index = 0; index < Math.Min(6, jointDegrees.Count); index++)
|
||||
{
|
||||
BinaryPrimitives.WriteSingleBigEndian(
|
||||
responsePacket.AsSpan(0x3c + index * sizeof(float), sizeof(float)),
|
||||
(float)jointDegrees[index]);
|
||||
}
|
||||
}
|
||||
|
||||
await _server.SendAsync(responsePacket, clientEndpoint, _cts.Token);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 收集测试过程中的结构化日志，便于断言运行期输出内容。
|
||||
/// </summary>
|
||||
private sealed class CapturingLogger<T> : ILogger<T>
|
||||
{
|
||||
/// <summary>
|
||||
/// 获取已记录的日志条目。
|
||||
/// </summary>
|
||||
public List<LogEntry> Entries { get; } = [];
|
||||
|
||||
/// <summary>
|
||||
/// 开始日志作用域；当前测试无需作用域，直接返回空对象。
|
||||
/// </summary>
|
||||
public IDisposable BeginScope<TState>(TState state)
|
||||
where TState : notnull
|
||||
{
|
||||
return NullScope.Instance;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 指示所有日志级别均启用，便于测试完整捕获输出。
|
||||
/// </summary>
|
||||
public bool IsEnabled(LogLevel logLevel)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 记录一条格式化后的日志消息。
|
||||
/// </summary>
|
||||
public void Log<TState>(
|
||||
LogLevel logLevel,
|
||||
EventId eventId,
|
||||
TState state,
|
||||
Exception? exception,
|
||||
Func<TState, Exception?, string> formatter)
|
||||
{
|
||||
Entries.Add(new LogEntry(logLevel, formatter(state, exception)));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 表示一次日志记录。
|
||||
/// </summary>
|
||||
public sealed record LogEntry(LogLevel Level, string Message);
|
||||
|
||||
/// <summary>
|
||||
/// 提供空日志作用域，避免测试中额外分配。
|
||||
/// </summary>
|
||||
private sealed class NullScope : IDisposable
|
||||
{
|
||||
/// <summary>
|
||||
/// 获取单例空作用域。
|
||||
/// </summary>
|
||||
public static NullScope Instance { get; } = new();
|
||||
|
||||
/// <summary>
|
||||
/// 释放空作用域；无需实际动作。
|
||||
/// </summary>
|
||||
public void Dispose()
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -30,7 +30,7 @@ public sealed class FanucProtocolTests
|
||||
var stopResponse = FanucCommandProtocol.ParseResultResponse(
|
||||
Convert.FromHexString("646f7a0000001200002103000000007a6f64"));
|
||||
var statusResponse = FanucCommandProtocol.ParseProgramStatusResponse(
|
||||
Convert.FromHexString("646f7a000000160000200300000000000000017a6f64"));
|
||||
Convert.FromHexString("646f7a000000160000200300000001000000007a6f64"));
|
||||
|
||||
Assert.Equal(FanucCommandMessageIds.StopProgram, stopResponse.MessageId);
|
||||
Assert.True(stopResponse.IsSuccess);
|
||||
@@ -111,7 +111,7 @@ public sealed class FanucProtocolTests
|
||||
Assert.Equal(9, frame.JointOrExtensionValues.Count);
|
||||
Assert.Equal([2u, 0u, 0u, 1u], frame.TailWords);
|
||||
Assert.Equal(frame.Pose, frame.CartesianPose);
|
||||
Assert.Equal(frame.JointOrExtensionValues.Take(6), frame.JointDegrees);
|
||||
Assert.Equal(frame.JointOrExtensionValues.Take(6), frame.JointRadians);
|
||||
Assert.Equal(frame.JointOrExtensionValues.Skip(6), frame.ExternalAxes);
|
||||
Assert.Equal(frame.TailWords, frame.RawTailWords);
|
||||
Assert.Equal(2u, frame.StatusWord0);
|
||||
@@ -135,7 +135,7 @@ public sealed class FanucProtocolTests
|
||||
|
||||
Assert.Equal(FanucStateProtocol.StateFrameLength, frameBytes.Length);
|
||||
Assert.Equal(6, frame.CartesianPose.Count);
|
||||
Assert.Equal(6, frame.JointDegrees.Count);
|
||||
Assert.Equal(6, frame.JointRadians.Count);
|
||||
Assert.Equal(3, frame.ExternalAxes.Count);
|
||||
Assert.Equal([2u, 0u, 0u, 1u], frame.RawTailWords);
|
||||
}
|
||||
@@ -183,6 +183,24 @@ public sealed class FanucProtocolTests
|
||||
Assert.Equal(0.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x38, 4)));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证实时发送路径可以复用命令对象，并用机器人状态包序号覆盖出包序号。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void J519Protocol_PacksCommandWithOverrideSequenceIntoReusableBuffer()
|
||||
{
|
||||
var command = new FanucJ519Command(
|
||||
sequence: 2,
|
||||
targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
|
||||
var packet = new byte[FanucJ519Protocol.CommandPacketLength];
|
||||
|
||||
FanucJ519Protocol.PackCommandPacket(command, sequence: 456, packet);
|
||||
|
||||
Assert.Equal(456u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)));
|
||||
Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)));
|
||||
Assert.Equal(6.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x30, 4)));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 UDP 60015 的 132 字节响应包字段可以被解析成状态位和关节反馈。
|
||||
/// </summary>
|
||||
|
||||
99
tests/Flyshot.Core.Tests/J519SendTrajectorySamplerTests.cs
Normal file
99
tests/Flyshot.Core.Tests/J519SendTrajectorySamplerTests.cs
Normal file
@@ -0,0 +1,99 @@
|
||||
using Flyshot.Core.Planning.Sampling;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// 验证 J519 实发重采样器在离线导出和运行时下发之间保持一致的时间轴语义。
|
||||
/// </summary>
|
||||
public sealed class J519SendTrajectorySamplerTests
|
||||
{
|
||||
/// <summary>
|
||||
/// 验证 speed_ratio 只缩放轨迹时间，物理发送时间仍按固定伺服周期推进。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void SampleDenseJointTrajectory_MapsSendTimeToScaledTrajectoryTimeAndDegrees()
|
||||
{
|
||||
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 }
|
||||
};
|
||||
|
||||
var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||
denseTrajectory,
|
||||
durationSeconds: 0.016,
|
||||
servoPeriodSeconds: 0.008,
|
||||
speedRatio: 0.5);
|
||||
|
||||
Assert.Equal(5, samples.Count);
|
||||
Assert.Equal(0, samples[0].SampleIndex);
|
||||
Assert.Equal(0.0, samples[0].SendTime, precision: 6);
|
||||
Assert.Equal(0.0, samples[0].TrajectoryTime, precision: 6);
|
||||
Assert.Equal(0.0, samples[0].JointsDegrees[0], precision: 6);
|
||||
|
||||
Assert.Equal(1, samples[1].SampleIndex);
|
||||
Assert.Equal(0.008, samples[1].SendTime, precision: 6);
|
||||
Assert.Equal(0.004, samples[1].TrajectoryTime, precision: 6);
|
||||
Assert.Equal(45.0, samples[1].JointsDegrees[0], precision: 6);
|
||||
|
||||
Assert.Equal(4, samples[^1].SampleIndex);
|
||||
Assert.Equal(0.032, samples[^1].SendTime, precision: 6);
|
||||
Assert.Equal(0.016, samples[^1].TrajectoryTime, precision: 6);
|
||||
Assert.Equal(180.0, samples[^1].JointsDegrees[0], precision: 6);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证空稠密轨迹会直接暴露为调用错误，避免生成无意义下发点。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void SampleDenseJointTrajectory_RejectsEmptyDenseTrajectory()
|
||||
{
|
||||
var exception = Assert.Throws<InvalidOperationException>(() =>
|
||||
J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||
Array.Empty<IReadOnlyList<double>>(),
|
||||
durationSeconds: 0.016,
|
||||
servoPeriodSeconds: 0.008,
|
||||
speedRatio: 1.0));
|
||||
|
||||
Assert.Contains("稠密关节轨迹为空", exception.Message);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证非法 speed_ratio 会在公共入口统一拦截。
|
||||
/// </summary>
|
||||
[Theory]
|
||||
[InlineData(0.0)]
|
||||
[InlineData(double.NaN)]
|
||||
[InlineData(double.PositiveInfinity)]
|
||||
public void SampleDenseJointTrajectory_RejectsInvalidSpeedRatio(double speedRatio)
|
||||
{
|
||||
var denseTrajectory = new[]
|
||||
{
|
||||
new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
|
||||
};
|
||||
|
||||
Assert.Throws<ArgumentOutOfRangeException>(() =>
|
||||
J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||
denseTrajectory,
|
||||
durationSeconds: 0.0,
|
||||
servoPeriodSeconds: 0.008,
|
||||
speedRatio: speedRatio));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证公共诊断行格式与既有 ActualSendTiming 文件保持一致。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void BuildTimingRow_UsesLegacyActualSendColumnOrder()
|
||||
{
|
||||
var row = J519SendTrajectorySampler.BuildTimingRow(new J519SendSample(
|
||||
sampleIndex: 2,
|
||||
sendTime: 0.016,
|
||||
trajectoryTime: 0.008,
|
||||
speedRatio: 0.5,
|
||||
jointsDegrees: [90.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
|
||||
|
||||
Assert.Equal([2.0, 0.016, 0.008, 0.5], row);
|
||||
}
|
||||
}
|
||||
@@ -2,7 +2,6 @@ using Flyshot.Core.Config;
|
||||
using Flyshot.Core.Domain;
|
||||
using Flyshot.Core.Planning;
|
||||
using Flyshot.Core.Planning.Export;
|
||||
using Flyshot.Core.Planning.Kinematics;
|
||||
using Flyshot.Core.Planning.Sampling;
|
||||
using Flyshot.Core.Triggering;
|
||||
using Xunit.Abstractions;
|
||||
@@ -24,26 +23,30 @@ public sealed class OfflinePlanTests
|
||||
/// 使用预设参数生成离线轨迹，输出到 analysis/output/dotnet/。
|
||||
/// </summary>
|
||||
[Theory]
|
||||
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL9_EAU_90", false, 1.0)]
|
||||
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL9_EAU_90", true, 0.9)]
|
||||
[InlineData("Rvbust/EOL10_EAU_0/EOL10_EAU_0.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL10_EAU_0", false, 1.0)]
|
||||
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "EOL9_EAU_90", false, 1.0)]
|
||||
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "EOL9_EAU_90", true, 0.9)]
|
||||
[InlineData("Rvbust/EOL10_EAU_0/EOL10_EAU_0.json", "EOL10_EAU_0", false, 1.0)]
|
||||
public void GenerateTrajectory_MatchesPythonDemo(
|
||||
string configPath,
|
||||
string robotModelPath,
|
||||
string trajName,
|
||||
bool useSelfAdapt,
|
||||
double speedRatio)
|
||||
{
|
||||
var workspaceRoot = GetWorkspaceRoot();
|
||||
var resolvedConfigPath = Path.Combine(workspaceRoot, configPath);
|
||||
var outputDir = Path.Combine(workspaceRoot, "analysis", "output", "dotnet", $"{trajName}_sr{speedRatio:F2}_{(useSelfAdapt ? "adapt" : "icsp")}");
|
||||
Directory.CreateDirectory(outputDir);
|
||||
|
||||
// 1. 加载配置和模型。
|
||||
var loadedConfig = new RobotConfigLoader().Load(configPath, repoRoot: workspaceRoot);
|
||||
var loadedConfig = new RobotConfigLoader().Load(resolvedConfigPath, repoRoot: workspaceRoot);
|
||||
var program = loadedConfig.Programs[trajName];
|
||||
var resolvedRobotModelPath = Path.Combine(workspaceRoot, robotModelPath);
|
||||
var baseProfile = new RobotModelLoader().LoadProfile(resolvedRobotModelPath, loadedConfig.Robot.AccLimitScale, loadedConfig.Robot.JerkLimitScale);
|
||||
var kinematicsModel = new RobotModelLoader().LoadKinematicsModel(resolvedRobotModelPath);
|
||||
var resolvedRobotModelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "LR_Mate_200iD_7L.json");
|
||||
var loadedModel = new RobotModelLoader().LoadProfileAndKinematics(
|
||||
resolvedRobotModelPath,
|
||||
loadedConfig.Robot.AccLimitScale,
|
||||
loadedConfig.Robot.JerkLimitScale);
|
||||
var baseProfile = loadedModel.Profile;
|
||||
var kinematicsModel = loadedModel.KinematicsModel;
|
||||
|
||||
// 2. 应用 speed_ratio 缩放。
|
||||
var scaledProfile = ScaleRobotProfile(baseProfile, speedRatio);
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
using Flyshot.Core.Config;
|
||||
using Flyshot.Core.Domain;
|
||||
using Flyshot.Core.Planning;
|
||||
using Flyshot.Core.Planning.Sampling;
|
||||
using Flyshot.Core.Triggering;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
@@ -66,7 +67,7 @@ public sealed class PlanningCompatibilityTests
|
||||
{
|
||||
var workspaceRoot = GetWorkspaceRoot();
|
||||
var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL9 EAU 90", "eol9_eau_90.json");
|
||||
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
|
||||
var modelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "LR_Mate_200iD_7L.json");
|
||||
|
||||
var config = new RobotConfigLoader().Load(configPath);
|
||||
var baseProfile = new RobotModelLoader().LoadProfile(modelPath, config.Robot.AccLimitScale, config.Robot.JerkLimitScale);
|
||||
@@ -171,6 +172,28 @@ public sealed class PlanningCompatibilityTests
|
||||
Assert.Equal(2, doEvent.HoldCycles);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证稠密轨迹生成后会复核离散加速度，避免采样结果绕过 ICSP 段 scale 校验。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public void TrajectoryLimitValidator_Throws_WhenDenseTrajectoryAccelerationExceedsLimit()
|
||||
{
|
||||
var robot = CreateRobotProfile([100.0], [10.0], [1000.0]);
|
||||
|
||||
var exception = Assert.Throws<InvalidOperationException>(() =>
|
||||
TrajectoryLimitValidator.ValidateDenseJointTrajectory(
|
||||
robot,
|
||||
[
|
||||
[0.0, 0.0],
|
||||
[0.008, 0.0],
|
||||
[0.016, 0.01]
|
||||
],
|
||||
trajectoryName: "dense-acceleration-check"));
|
||||
|
||||
Assert.Contains("加速度", exception.Message);
|
||||
Assert.Contains("dense-acceleration-check", exception.Message);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 构造一个最小 RobotProfile，便于规划层单元测试聚焦在时间轴逻辑上。
|
||||
/// </summary>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
526
tests/Flyshot.Core.Tests/UttcJ519GoldenTests.cs
Normal file
526
tests/Flyshot.Core.Tests/UttcJ519GoldenTests.cs
Normal file
@@ -0,0 +1,526 @@
|
||||
using System.Buffers.Binary;
|
||||
using System.Globalization;
|
||||
using Flyshot.Runtime.Fanuc.Protocol;
|
||||
|
||||
namespace Flyshot.Core.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// 使用 2026-04-28 UTTC 真实抓包验证 J519 主运行点位与 JointDetialTraj 重采样规则一致。
|
||||
/// </summary>
|
||||
public sealed class UttcJ519GoldenTests
|
||||
{
|
||||
private const int JointCount = 6;
|
||||
private const int RobotJ519Port = 60015;
|
||||
private const double ServoPeriodSeconds = 0.008;
|
||||
|
||||
public static IEnumerable<object[]> SpeedSweepCases()
|
||||
{
|
||||
yield return ["2026042802-0.5.pcap", 0.5, 1851, 14.800309];
|
||||
yield return ["2026042802-0.7.pcap", 0.7, 1322, 10.568313];
|
||||
yield return ["2026042802-1.pcap", 1.0, 926, 7.400125];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 验证 speed=0.5/0.7/1.0 三份真实抓包都符合当前运行时采用的发送点生成规则。
|
||||
/// </summary>
|
||||
[Theory]
|
||||
[MemberData(nameof(SpeedSweepCases))]
|
||||
public void CapturedJ519Run_ReplaysJointDetailTrajectoryWithSpeedRatio(
|
||||
string pcapFileName,
|
||||
double speedRatio,
|
||||
int expectedPointCount,
|
||||
double expectedSendDurationSeconds)
|
||||
{
|
||||
var repositoryRoot = FindRepositoryRoot();
|
||||
var pcapPath = Path.Combine(repositoryRoot, "Rvbust", "uttc-20260428", pcapFileName);
|
||||
var jointDetailPath = Path.Combine(repositoryRoot, "Rvbust", "uttc-20260428", "Data", "JointDetialTraj.txt");
|
||||
|
||||
var packets = ParsePcapUdp(pcapPath);
|
||||
var hostPort = DetectHostJ519Port(packets);
|
||||
var commands = ParseJ519Commands(packets, hostPort);
|
||||
var responses = ParseJ519Responses(packets, hostPort);
|
||||
var responseSegment = LongestStatusSegment(responses, status: 15);
|
||||
var jointRows = ReadJointDetail(jointDetailPath);
|
||||
var expected = GenerateExpectedPoints(jointRows, speedRatio);
|
||||
|
||||
var commandBySequence = new Dictionary<uint, CapturedJ519Command>();
|
||||
var duplicateSequenceCount = 0;
|
||||
foreach (var command in commands)
|
||||
{
|
||||
if (!commandBySequence.TryAdd(command.Sequence, command))
|
||||
{
|
||||
duplicateSequenceCount++;
|
||||
}
|
||||
}
|
||||
|
||||
var (startSequence, windowRms) = FindBestCommandWindow(commandBySequence, expected, responseSegment, searchRadius: 32);
|
||||
var actualRun = Enumerable
|
||||
.Range(0, expected.Length)
|
||||
.Select(index => commandBySequence[startSequence + (uint)index])
|
||||
.ToArray();
|
||||
var comparison = Compare(actualRun, expected);
|
||||
|
||||
Assert.Equal(464, jointRows.Length);
|
||||
Assert.Equal(expectedPointCount, expected.Length);
|
||||
Assert.Equal(expectedPointCount, actualRun.Length);
|
||||
Assert.Equal(0, duplicateSequenceCount);
|
||||
Assert.Equal(17, comparison.IoSetPulses);
|
||||
Assert.Equal(17, comparison.IoClearFrames);
|
||||
Assert.Equal(
|
||||
new ushort[] { 10, 12, 14 },
|
||||
actualRun
|
||||
.Where(static command => command.WriteIoMask != 0)
|
||||
.Select(static command => command.WriteIoMask)
|
||||
.Distinct()
|
||||
.Order()
|
||||
.ToArray());
|
||||
Assert.True(responseSegment.Length >= expectedPointCount - 1, $"status=15 segment too short: {responseSegment.Length}");
|
||||
Assert.InRange((long)responseSegment[0].Sequence - startSequence, 2, 8);
|
||||
Assert.All(actualRun, static command => Assert.Equal(0, command.LastData));
|
||||
for (var index = 0; index < actualRun.Length; index++)
|
||||
{
|
||||
Assert.Equal(startSequence + (uint)index, actualRun[index].Sequence);
|
||||
}
|
||||
|
||||
Assert.True(windowRms < 0.012, $"J519 global RMS {windowRms:F9} deg exceeds tolerance.");
|
||||
Assert.True(comparison.GlobalMaxAbsDeg < 0.07, $"J519 max abs diff {comparison.GlobalMaxAbsDeg:F9} deg exceeds tolerance.");
|
||||
|
||||
var sendDuration = actualRun[^1].TimeRelativeSeconds - actualRun[0].TimeRelativeSeconds;
|
||||
Assert.InRange(sendDuration, expectedSendDurationSeconds - 0.04, expectedSendDurationSeconds + 0.04);
|
||||
}
|
||||
|
||||
private static string FindRepositoryRoot()
|
||||
{
|
||||
var directory = new DirectoryInfo(AppContext.BaseDirectory);
|
||||
while (directory is not null)
|
||||
{
|
||||
var jointDetailPath = Path.Combine(directory.FullName, "Rvbust", "uttc-20260428", "Data", "JointDetialTraj.txt");
|
||||
if (File.Exists(jointDetailPath))
|
||||
{
|
||||
return directory.FullName;
|
||||
}
|
||||
|
||||
directory = directory.Parent;
|
||||
}
|
||||
|
||||
throw new DirectoryNotFoundException("Cannot locate repository root containing Rvbust/uttc-20260428/Data/JointDetialTraj.txt.");
|
||||
}
|
||||
|
||||
private static IReadOnlyList<UdpPacket> ParsePcapUdp(string path)
|
||||
{
|
||||
using var stream = File.OpenRead(path);
|
||||
var header = new byte[24];
|
||||
stream.ReadExactly(header);
|
||||
|
||||
var magic = header.AsSpan(0, 4);
|
||||
var bigEndian = false;
|
||||
var timestampScale = 1_000_000.0;
|
||||
if (magic.SequenceEqual(new byte[] { 0xd4, 0xc3, 0xb2, 0xa1 }))
|
||||
{
|
||||
bigEndian = false;
|
||||
}
|
||||
else if (magic.SequenceEqual(new byte[] { 0xa1, 0xb2, 0xc3, 0xd4 }))
|
||||
{
|
||||
bigEndian = true;
|
||||
}
|
||||
else if (magic.SequenceEqual(new byte[] { 0x4d, 0x3c, 0xb2, 0xa1 }))
|
||||
{
|
||||
bigEndian = false;
|
||||
timestampScale = 1_000_000_000.0;
|
||||
}
|
||||
else if (magic.SequenceEqual(new byte[] { 0xa1, 0xb2, 0x3c, 0x4d }))
|
||||
{
|
||||
bigEndian = true;
|
||||
timestampScale = 1_000_000_000.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
throw new InvalidDataException($"Unsupported pcap magic: {Convert.ToHexString(header.AsSpan(0, 4))}");
|
||||
}
|
||||
|
||||
var linkType = ReadUInt32(header.AsSpan(20, 4), bigEndian);
|
||||
if (linkType != 1)
|
||||
{
|
||||
throw new InvalidDataException($"Only Ethernet pcap is supported, got linktype {linkType}.");
|
||||
}
|
||||
|
||||
var packets = new List<UdpPacket>();
|
||||
var recordHeader = new byte[16];
|
||||
double? firstTimestamp = null;
|
||||
var frameNumber = 0;
|
||||
while (ReadFullOrEnd(stream, recordHeader))
|
||||
{
|
||||
frameNumber++;
|
||||
var tsSec = ReadUInt32(recordHeader.AsSpan(0, 4), bigEndian);
|
||||
var tsFraction = ReadUInt32(recordHeader.AsSpan(4, 4), bigEndian);
|
||||
var includedLength = ReadUInt32(recordHeader.AsSpan(8, 4), bigEndian);
|
||||
var packet = new byte[includedLength];
|
||||
stream.ReadExactly(packet);
|
||||
|
||||
var timestamp = tsSec + (tsFraction / timestampScale);
|
||||
firstTimestamp ??= timestamp;
|
||||
var udp = ParseEthernetIpv4Udp(packet, frameNumber, timestamp - firstTimestamp.Value);
|
||||
if (udp is not null)
|
||||
{
|
||||
packets.Add(udp);
|
||||
}
|
||||
}
|
||||
|
||||
return packets;
|
||||
}
|
||||
|
||||
private static bool ReadFullOrEnd(Stream stream, byte[] buffer)
|
||||
{
|
||||
var offset = 0;
|
||||
while (offset < buffer.Length)
|
||||
{
|
||||
var read = stream.Read(buffer, offset, buffer.Length - offset);
|
||||
if (read == 0)
|
||||
{
|
||||
if (offset == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
throw new EndOfStreamException("Truncated pcap record header.");
|
||||
}
|
||||
|
||||
offset += read;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
private static UdpPacket? ParseEthernetIpv4Udp(byte[] packet, int frameNumber, double timeRelativeSeconds)
|
||||
{
|
||||
if (packet.Length < 14)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var offset = 14;
|
||||
var etherType = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(12, 2));
|
||||
if (etherType == 0x8100)
|
||||
{
|
||||
if (packet.Length < 18)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
etherType = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(16, 2));
|
||||
offset = 18;
|
||||
}
|
||||
|
||||
if (etherType != 0x0800 || packet.Length < offset + 20)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var versionIhl = packet[offset];
|
||||
var version = versionIhl >> 4;
|
||||
var ihl = (versionIhl & 0x0f) * 4;
|
||||
if (version != 4 || ihl < 20 || packet.Length < offset + ihl)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var protocol = packet[offset + 9];
|
||||
if (protocol != 17)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var totalLength = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(offset + 2, 2));
|
||||
var udpOffset = offset + ihl;
|
||||
if (packet.Length < udpOffset + 8)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var sourcePort = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(udpOffset, 2));
|
||||
var destinationPort = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(udpOffset + 2, 2));
|
||||
var udpLength = BinaryPrimitives.ReadUInt16BigEndian(packet.AsSpan(udpOffset + 4, 2));
|
||||
var payloadOffset = udpOffset + 8;
|
||||
var payloadLength = Math.Max(0, Math.Min(udpLength - 8, totalLength - ihl - 8));
|
||||
if (packet.Length < payloadOffset + payloadLength)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
return new UdpPacket(
|
||||
frameNumber,
|
||||
timeRelativeSeconds,
|
||||
sourcePort,
|
||||
destinationPort,
|
||||
packet.AsSpan(payloadOffset, payloadLength).ToArray());
|
||||
}
|
||||
|
||||
private static ushort DetectHostJ519Port(IEnumerable<UdpPacket> packets)
|
||||
{
|
||||
return packets
|
||||
.Where(static packet => packet.DestinationPort == RobotJ519Port && packet.Payload.Length == FanucJ519Protocol.CommandPacketLength)
|
||||
.GroupBy(static packet => packet.SourcePort)
|
||||
.OrderByDescending(static group => group.Count())
|
||||
.Select(static group => group.Key)
|
||||
.First();
|
||||
}
|
||||
|
||||
private static CapturedJ519Command[] ParseJ519Commands(IEnumerable<UdpPacket> packets, ushort hostPort)
|
||||
{
|
||||
return packets
|
||||
.Where(packet =>
|
||||
packet.SourcePort == hostPort
|
||||
&& packet.DestinationPort == RobotJ519Port
|
||||
&& packet.Payload.Length == FanucJ519Protocol.CommandPacketLength)
|
||||
.Select(ParseCommand)
|
||||
.Where(static command => command is not null)
|
||||
.Cast<CapturedJ519Command>()
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
private static CapturedJ519Command? ParseCommand(UdpPacket packet)
|
||||
{
|
||||
var payload = packet.Payload;
|
||||
var messageType = BinaryPrimitives.ReadUInt32BigEndian(payload.AsSpan(0x00, 4));
|
||||
var version = BinaryPrimitives.ReadUInt32BigEndian(payload.AsSpan(0x04, 4));
|
||||
if (messageType != 1 || version != 1)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var targets = new double[9];
|
||||
for (var index = 0; index < targets.Length; index++)
|
||||
{
|
||||
targets[index] = BinaryPrimitives.ReadSingleBigEndian(payload.AsSpan(0x1c + (index * 4), 4));
|
||||
}
|
||||
|
||||
return new CapturedJ519Command(
|
||||
packet.FrameNumber,
|
||||
packet.TimeRelativeSeconds,
|
||||
BinaryPrimitives.ReadUInt32BigEndian(payload.AsSpan(0x08, 4)),
|
||||
payload[0x0c],
|
||||
BinaryPrimitives.ReadUInt16BigEndian(payload.AsSpan(0x16, 2)),
|
||||
BinaryPrimitives.ReadUInt16BigEndian(payload.AsSpan(0x18, 2)),
|
||||
targets);
|
||||
}
|
||||
|
||||
private static FanucJ519Response[] ParseJ519Responses(IEnumerable<UdpPacket> packets, ushort hostPort)
|
||||
{
|
||||
return packets
|
||||
.Where(packet =>
|
||||
packet.SourcePort == RobotJ519Port
|
||||
&& packet.DestinationPort == hostPort
|
||||
&& packet.Payload.Length == FanucJ519Protocol.ResponsePacketLength)
|
||||
.Select(packet => FanucJ519Protocol.ParseResponse(packet.Payload))
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
private static FanucJ519Response[] LongestStatusSegment(IEnumerable<FanucJ519Response> responses, byte status)
|
||||
{
|
||||
var best = new List<FanucJ519Response>();
|
||||
var current = new List<FanucJ519Response>();
|
||||
foreach (var response in responses)
|
||||
{
|
||||
if (response.Status == status)
|
||||
{
|
||||
current.Add(response);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (current.Count > best.Count)
|
||||
{
|
||||
best = current;
|
||||
}
|
||||
|
||||
current = [];
|
||||
}
|
||||
|
||||
return (current.Count > best.Count ? current : best).ToArray();
|
||||
}
|
||||
|
||||
private static JointRow[] ReadJointDetail(string path)
|
||||
{
|
||||
return File.ReadLines(path)
|
||||
.Where(static line => !string.IsNullOrWhiteSpace(line) && !line.TrimStart().StartsWith('#'))
|
||||
.Select(static line =>
|
||||
{
|
||||
var values = line
|
||||
.Split((char[]?)null, StringSplitOptions.RemoveEmptyEntries)
|
||||
.Select(value => double.Parse(value, CultureInfo.InvariantCulture))
|
||||
.ToArray();
|
||||
return new JointRow(values[0], values.Skip(1).Take(JointCount).ToArray());
|
||||
})
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
private static ExpectedPoint[] GenerateExpectedPoints(IReadOnlyList<JointRow> rows, double speedRatio)
|
||||
{
|
||||
var durationSeconds = rows[^1].TimeSeconds;
|
||||
var trajectoryStepSeconds = ServoPeriodSeconds * speedRatio;
|
||||
var sampleCount = (int)Math.Floor((durationSeconds / trajectoryStepSeconds) + 1e-9) + 1;
|
||||
var points = new ExpectedPoint[sampleCount];
|
||||
var segmentIndex = 0;
|
||||
|
||||
for (var index = 0; index < sampleCount; index++)
|
||||
{
|
||||
var trajectoryTime = Math.Min(index * trajectoryStepSeconds, durationSeconds);
|
||||
var jointsRad = Interpolate(rows, trajectoryTime, ref segmentIndex);
|
||||
points[index] = new ExpectedPoint(
|
||||
index,
|
||||
trajectoryTime,
|
||||
jointsRad.Select(static value => value * 180.0 / Math.PI).ToArray());
|
||||
}
|
||||
|
||||
return points;
|
||||
}
|
||||
|
||||
private static double[] Interpolate(IReadOnlyList<JointRow> rows, double trajectoryTime, ref int segmentIndex)
|
||||
{
|
||||
if (rows.Count == 1 || trajectoryTime <= rows[0].TimeSeconds)
|
||||
{
|
||||
return rows[0].JointsRad.ToArray();
|
||||
}
|
||||
|
||||
var lastIndex = rows.Count - 1;
|
||||
if (trajectoryTime >= rows[lastIndex].TimeSeconds)
|
||||
{
|
||||
return rows[lastIndex].JointsRad.ToArray();
|
||||
}
|
||||
|
||||
while (segmentIndex < lastIndex - 1 && rows[segmentIndex + 1].TimeSeconds < trajectoryTime)
|
||||
{
|
||||
segmentIndex++;
|
||||
}
|
||||
|
||||
var start = rows[segmentIndex];
|
||||
var end = rows[segmentIndex + 1];
|
||||
var duration = end.TimeSeconds - start.TimeSeconds;
|
||||
var alpha = duration <= 0.0 ? 0.0 : (trajectoryTime - start.TimeSeconds) / duration;
|
||||
var joints = new double[JointCount];
|
||||
for (var index = 0; index < joints.Length; index++)
|
||||
{
|
||||
joints[index] = start.JointsRad[index] + ((end.JointsRad[index] - start.JointsRad[index]) * alpha);
|
||||
}
|
||||
|
||||
return joints;
|
||||
}
|
||||
|
||||
private static (uint StartSequence, double RmsDeg) FindBestCommandWindow(
|
||||
IReadOnlyDictionary<uint, CapturedJ519Command> commandBySequence,
|
||||
IReadOnlyList<ExpectedPoint> expected,
|
||||
IReadOnlyList<FanucJ519Response> responseSegment,
|
||||
int searchRadius)
|
||||
{
|
||||
if (responseSegment.Count == 0)
|
||||
{
|
||||
throw new InvalidDataException("No status=15 response segment found.");
|
||||
}
|
||||
|
||||
var responseStartSequence = (long)responseSegment[0].Sequence;
|
||||
uint? bestStartSequence = null;
|
||||
var bestRms = double.PositiveInfinity;
|
||||
|
||||
for (var startSequence = responseStartSequence - searchRadius; startSequence <= responseStartSequence + searchRadius; startSequence++)
|
||||
{
|
||||
if (startSequence < 0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var differences = new List<double>(expected.Count * JointCount);
|
||||
var completeWindow = true;
|
||||
for (var index = 0; index < expected.Count; index++)
|
||||
{
|
||||
var sequence = (uint)(startSequence + index);
|
||||
if (!commandBySequence.TryGetValue(sequence, out var command))
|
||||
{
|
||||
completeWindow = false;
|
||||
break;
|
||||
}
|
||||
|
||||
for (var joint = 0; joint < JointCount; joint++)
|
||||
{
|
||||
differences.Add(command.TargetDegrees[joint] - expected[index].JointsDeg[joint]);
|
||||
}
|
||||
}
|
||||
|
||||
if (!completeWindow)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var rms = Rms(differences);
|
||||
if (rms < bestRms)
|
||||
{
|
||||
bestRms = rms;
|
||||
bestStartSequence = (uint)startSequence;
|
||||
}
|
||||
}
|
||||
|
||||
if (bestStartSequence is null)
|
||||
{
|
||||
throw new InvalidDataException("No complete command window found near the status=15 response segment.");
|
||||
}
|
||||
|
||||
return (bestStartSequence.Value, bestRms);
|
||||
}
|
||||
|
||||
private static ComparisonSummary Compare(IReadOnlyList<CapturedJ519Command> actual, IReadOnlyList<ExpectedPoint> expected)
|
||||
{
|
||||
var differences = new List<double>(actual.Count * JointCount);
|
||||
var maxAbs = 0.0;
|
||||
for (var index = 0; index < actual.Count; index++)
|
||||
{
|
||||
for (var joint = 0; joint < JointCount; joint++)
|
||||
{
|
||||
var difference = actual[index].TargetDegrees[joint] - expected[index].JointsDeg[joint];
|
||||
differences.Add(difference);
|
||||
maxAbs = Math.Max(maxAbs, Math.Abs(difference));
|
||||
}
|
||||
}
|
||||
|
||||
var ioSetPulses = actual.Count(command => command.WriteIoMask != 0 && command.WriteIoValue != 0);
|
||||
var ioClearFrames = actual.Count(command => command.WriteIoMask != 0 && command.WriteIoValue == 0);
|
||||
return new ComparisonSummary(Rms(differences), maxAbs, ioSetPulses, ioClearFrames);
|
||||
}
|
||||
|
||||
private static double Rms(IEnumerable<double> values)
|
||||
{
|
||||
var sum = 0.0;
|
||||
var count = 0;
|
||||
foreach (var value in values)
|
||||
{
|
||||
sum += value * value;
|
||||
count++;
|
||||
}
|
||||
|
||||
return count == 0 ? 0.0 : Math.Sqrt(sum / count);
|
||||
}
|
||||
|
||||
private static uint ReadUInt32(ReadOnlySpan<byte> value, bool bigEndian)
|
||||
{
|
||||
return bigEndian ? BinaryPrimitives.ReadUInt32BigEndian(value) : BinaryPrimitives.ReadUInt32LittleEndian(value);
|
||||
}
|
||||
|
||||
private sealed record UdpPacket(
|
||||
int FrameNumber,
|
||||
double TimeRelativeSeconds,
|
||||
ushort SourcePort,
|
||||
ushort DestinationPort,
|
||||
byte[] Payload);
|
||||
|
||||
private sealed record CapturedJ519Command(
|
||||
int FrameNumber,
|
||||
double TimeRelativeSeconds,
|
||||
uint Sequence,
|
||||
byte LastData,
|
||||
ushort WriteIoMask,
|
||||
ushort WriteIoValue,
|
||||
IReadOnlyList<double> TargetDegrees);
|
||||
|
||||
private sealed record JointRow(double TimeSeconds, IReadOnlyList<double> JointsRad);
|
||||
|
||||
private sealed record ExpectedPoint(int Index, double TrajectoryTimeSeconds, IReadOnlyList<double> JointsDeg);
|
||||
|
||||
private sealed record ComparisonSummary(double GlobalRmsDeg, double GlobalMaxAbsDeg, int IoSetPulses, int IoClearFrames);
|
||||
}
|
||||
@@ -5,54 +5,74 @@ using Microsoft.Extensions.Configuration;
|
||||
namespace Flyshot.Server.IntegrationTests;
|
||||
|
||||
/// <summary>
|
||||
/// 验证 `/debug` 在线 API 调试页的暴露策略与基础内容契约。
|
||||
/// 验证 `wwwroot` 静态调试页和调试配置 API 的基础内容契约。
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// 调试页与 Swagger UI 共用 <c>Swagger:Enabled</c> 开关，开关关闭时
|
||||
/// 调试页与 `/swagger` 一同下线，避免生产环境意外暴露调试入口。
|
||||
/// 调试页自身是静态 HTML，真正的 Swagger 地址由配置 API 下发；
|
||||
/// 当 Swagger 关闭时，配置 API 返回 404，前端据此显示不可用状态。
|
||||
/// </remarks>
|
||||
public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
|
||||
{
|
||||
private readonly FlyshotServerFactory _factory = factory;
|
||||
|
||||
/// <summary>
|
||||
/// 当 Swagger 启用时，`/debug` 应当返回完整的 HTML 调试页。
|
||||
/// `debug.html` 应当作为可直接调试的静态页面暴露。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task GetDebug_WhenSwaggerEnabled_ReturnsConsoleHtml()
|
||||
public async Task GetDebugHtml_ReturnsConsoleStaticPage()
|
||||
{
|
||||
// 默认配置即开启 Swagger，调试页应当作为浏览器可直接打开的 HTML 暴露。
|
||||
using var configuredFactory = CreateFactoryWithSwaggerEnabled(true);
|
||||
using var client = configuredFactory.CreateClient();
|
||||
|
||||
using var response = await client.GetAsync("/debug");
|
||||
using var response = await client.GetAsync("/debug.html");
|
||||
|
||||
Assert.Equal(HttpStatusCode.OK, response.StatusCode);
|
||||
Assert.StartsWith("text/html", response.Content.Headers.ContentType?.MediaType);
|
||||
|
||||
var html = await response.Content.ReadAsStringAsync();
|
||||
|
||||
// 页面标题与稳定锚点用于回归保护：调试页骨架一旦丢失，测试立即报警。
|
||||
Assert.Contains("Flyshot Replacement 接口调试", html, StringComparison.Ordinal);
|
||||
Assert.Contains("id=\"debug-console-app\"", html, StringComparison.Ordinal);
|
||||
|
||||
// 控制器需要在返回 HTML 前把 Swagger JSON URL 注入到页面占位符里，
|
||||
// 否则前端无法在加载时拉取 OpenAPI 文档。
|
||||
Assert.Contains("/swagger/v1/swagger.json", html, StringComparison.Ordinal);
|
||||
Assert.DoesNotContain("__SWAGGER_JSON_URL__", html, StringComparison.Ordinal);
|
||||
Assert.Contains("/assets/debug.css", html, StringComparison.Ordinal);
|
||||
Assert.Contains("/assets/debug.js", html, StringComparison.Ordinal);
|
||||
|
||||
using var scriptResponse = await client.GetAsync("/assets/debug.js");
|
||||
Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
|
||||
|
||||
var script = await scriptResponse.Content.ReadAsStringAsync();
|
||||
Assert.Contains("/api/debug/config", script, StringComparison.Ordinal);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 当 Swagger 关闭时，`/debug` 应当与 `/swagger` 同步下线（404）。
|
||||
/// 当 Swagger 启用时，调试配置 API 应当返回实际 Swagger JSON 地址。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task GetDebug_WhenSwaggerDisabled_ReturnsNotFound()
|
||||
public async Task GetDebugConfig_WhenSwaggerEnabled_ReturnsSwaggerJsonUrl()
|
||||
{
|
||||
using var configuredFactory = CreateFactoryWithSwaggerEnabled(true);
|
||||
using var client = configuredFactory.CreateClient();
|
||||
|
||||
using var response = await client.GetAsync("/api/debug/config");
|
||||
|
||||
Assert.Equal(HttpStatusCode.OK, response.StatusCode);
|
||||
|
||||
await using var responseStream = await response.Content.ReadAsStreamAsync();
|
||||
using var document = await System.Text.Json.JsonDocument.ParseAsync(responseStream);
|
||||
|
||||
Assert.Equal("/swagger/v1/swagger.json", document.RootElement.GetProperty("swaggerJsonUrl").GetString());
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 当 Swagger 关闭时，调试配置 API 应当与 Swagger UI 同步下线（404）。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task GetDebugConfig_WhenSwaggerDisabled_ReturnsNotFound()
|
||||
{
|
||||
// 显式把 Swagger:Enabled 置为 false，此时调试页也不应当被访问到。
|
||||
using var configuredFactory = CreateFactoryWithSwaggerEnabled(false);
|
||||
using var client = configuredFactory.CreateClient();
|
||||
|
||||
using var response = await client.GetAsync("/debug");
|
||||
using var response = await client.GetAsync("/api/debug/config");
|
||||
|
||||
Assert.Equal(HttpStatusCode.NotFound, response.StatusCode);
|
||||
}
|
||||
@@ -81,21 +101,20 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 状态页应当提供跳转到调试页的入口，便于现场顺手跳转。
|
||||
/// 状态页应当提供跳转到静态调试页的入口，便于现场顺手跳转。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task GetStatusPage_LinksToDebugConsole()
|
||||
public async Task GetStatusHtml_LinksToDebugConsole()
|
||||
{
|
||||
using var configuredFactory = CreateFactoryWithSwaggerEnabled(true);
|
||||
using var client = configuredFactory.CreateClient();
|
||||
|
||||
using var response = await client.GetAsync("/status");
|
||||
using var response = await client.GetAsync("/status.html");
|
||||
|
||||
Assert.Equal(HttpStatusCode.OK, response.StatusCode);
|
||||
var html = await response.Content.ReadAsStringAsync();
|
||||
|
||||
// 状态页头部需要至少一个指向 `/debug` 的链接，文案不强制以保留排版调整空间。
|
||||
Assert.Contains("href=\"/debug\"", html, StringComparison.Ordinal);
|
||||
Assert.Contains("href=\"/debug.html\"", html, StringComparison.Ordinal);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@@ -229,7 +229,8 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
|
||||
move_to_start = true,
|
||||
method = "icsp",
|
||||
save_traj = true,
|
||||
use_cache = true
|
||||
use_cache = true,
|
||||
wait = true
|
||||
}))
|
||||
{
|
||||
Assert.Equal(HttpStatusCode.OK, executeResponse.StatusCode);
|
||||
|
||||
@@ -0,0 +1,80 @@
|
||||
using Flyshot.Server.Host.Middleware;
|
||||
using Microsoft.AspNetCore.Http;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace Flyshot.Server.IntegrationTests;
|
||||
|
||||
/// <summary>
|
||||
/// HTTP 请求响应日志中间件测试。
|
||||
/// </summary>
|
||||
public sealed class RequestResponseLoggingMiddlewareTests
|
||||
{
|
||||
/// <summary>
|
||||
/// 高频状态快照路径命中忽略前缀时，不应写入请求和响应日志。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task InvokeAsync_WhenPathMatchesIgnoredPrefix_DoesNotWriteRequestResponseLogs()
|
||||
{
|
||||
var logger = new CapturingLogger<RequestResponseLoggingMiddleware>();
|
||||
var nextWasCalled = false;
|
||||
var middleware = new RequestResponseLoggingMiddleware(
|
||||
async context =>
|
||||
{
|
||||
nextWasCalled = true;
|
||||
context.Response.StatusCode = StatusCodes.Status200OK;
|
||||
await context.Response.WriteAsync("ok");
|
||||
},
|
||||
logger);
|
||||
var context = new DefaultHttpContext();
|
||||
context.Request.Method = HttpMethods.Get;
|
||||
context.Request.Path = "/api/status/snapshot/current";
|
||||
context.Response.Body = new MemoryStream();
|
||||
|
||||
await middleware.InvokeAsync(context);
|
||||
|
||||
Assert.True(nextWasCalled);
|
||||
Assert.Empty(logger.Entries);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 捕获中间件写出的日志条目，避免测试依赖真实 NLog 目标。
|
||||
/// </summary>
|
||||
private sealed class CapturingLogger<T> : ILogger<T>
|
||||
{
|
||||
/// <summary>
|
||||
/// 已捕获的日志条目。
|
||||
/// </summary>
|
||||
public List<LogEntry> Entries { get; } = new();
|
||||
|
||||
/// <inheritdoc />
|
||||
public IDisposable? BeginScope<TState>(TState state)
|
||||
where TState : notnull
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public bool IsEnabled(LogLevel logLevel)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <inheritdoc />
|
||||
public void Log<TState>(
|
||||
LogLevel logLevel,
|
||||
EventId eventId,
|
||||
TState state,
|
||||
Exception? exception,
|
||||
Func<TState, Exception?, string> formatter)
|
||||
{
|
||||
Entries.Add(new LogEntry(logLevel, formatter(state, exception)));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 测试用日志条目。
|
||||
/// </summary>
|
||||
/// <param name="Level">日志级别。</param>
|
||||
/// <param name="Message">格式化后的日志消息。</param>
|
||||
private sealed record LogEntry(LogLevel Level, string Message);
|
||||
}
|
||||
@@ -10,21 +10,28 @@ namespace Flyshot.Server.IntegrationTests;
|
||||
public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
|
||||
{
|
||||
/// <summary>
|
||||
/// 验证状态页返回可由浏览器直接打开的 HTML，并引用状态快照 API。
|
||||
/// 验证状态页作为 wwwroot 静态 HTML 暴露，并引用状态快照 API。
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task GetStatusPage_ReturnsMonitoringHtml()
|
||||
public async Task GetStatusHtml_ReturnsMonitoringStaticPage()
|
||||
{
|
||||
using var client = factory.CreateClient();
|
||||
|
||||
using var response = await client.GetAsync("/status");
|
||||
using var response = await client.GetAsync("/status.html");
|
||||
|
||||
Assert.Equal(HttpStatusCode.OK, response.StatusCode);
|
||||
Assert.StartsWith("text/html", response.Content.Headers.ContentType?.MediaType);
|
||||
|
||||
var html = await response.Content.ReadAsStringAsync();
|
||||
Assert.Contains("Flyshot Replacement 状态监控", html, StringComparison.Ordinal);
|
||||
Assert.Contains("/api/status/snapshot", html, StringComparison.Ordinal);
|
||||
Assert.Contains("/assets/status.css", html, StringComparison.Ordinal);
|
||||
Assert.Contains("/assets/status.js", html, StringComparison.Ordinal);
|
||||
|
||||
using var scriptResponse = await client.GetAsync("/assets/status.js");
|
||||
Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
|
||||
|
||||
var script = await scriptResponse.Content.ReadAsStringAsync();
|
||||
Assert.Contains("/api/status/snapshot", script, StringComparison.Ordinal);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@@ -54,7 +61,12 @@ public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFi
|
||||
Assert.True(root.GetProperty("isSetup").GetBoolean());
|
||||
Assert.Equal("FANUC_LR_Mate_200iD", root.GetProperty("robotName").GetString());
|
||||
Assert.Equal(6, root.GetProperty("degreesOfFreedom").GetInt32());
|
||||
Assert.Empty(root.GetProperty("uploadedTrajectories").EnumerateArray());
|
||||
var uploadedTrajectories = root.GetProperty("uploadedTrajectories")
|
||||
.EnumerateArray()
|
||||
.Select(static value => value.GetString())
|
||||
.ToArray();
|
||||
Assert.Contains("20251015", uploadedTrajectories);
|
||||
Assert.Contains("UTTC_MS11", uploadedTrajectories);
|
||||
Assert.Equal("Connected", snapshot.GetProperty("connectionState").GetString());
|
||||
Assert.True(snapshot.GetProperty("isEnabled").GetBoolean());
|
||||
Assert.False(snapshot.GetProperty("isInMotion").GetBoolean());
|
||||
|
||||
Reference in New Issue
Block a user