Compare commits
11 Commits
af65ca03a0
...
legacy-gat
| Author | SHA1 | Date | |
|---|---|---|---|
| 0952958af7 | |||
| 2cd42f04e5 | |||
| d120ef2a39 | |||
| d82128da4a | |||
| 74761bb5da | |||
| f7e2bb0e7b | |||
| 1779067b5c | |||
| c6829d214a | |||
| 70b0ccd414 | |||
| 783716ff44 | |||
| b1710e5d01 |
@@ -11,7 +11,32 @@
|
|||||||
"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 build FlyshotReplacement.sln --no-restore -v minimal')",
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||||||
"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.Core.Tests/Flyshot.Core.Tests.csproj -v minimal')",
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||||||
"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 test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal')",
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||||||
|
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
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||||||
|
"Bash(taskkill /PID 120812 /F)",
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||||||
|
"Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build flyshot-replacement.sln --no-restore -v minimal 2>&1')",
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|
"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')",
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|
"Bash(capinfos \"20260430.pcap\")",
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"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)",
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"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)",
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"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)",
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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 udp.length)",
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"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)",
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"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)",
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"Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.length)",
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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)",
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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)",
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"Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -E header=y)",
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"Bash(tshark -G fields)",
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"Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frame.time_relative -e data)",
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"Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
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|
"Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
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"Bash(tshark -r \"20260430.pcap\" --disable-protocol frj519 -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
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"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')",
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"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')",
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"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')",
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|
"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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]
|
]
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}
|
}
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}
|
}
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3
.gitignore
vendored
3
.gitignore
vendored
@@ -397,3 +397,6 @@ FodyWeavers.xsd
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# JetBrains Rider
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# JetBrains Rider
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*.sln.iml
|
*.sln.iml
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Config/Data/*
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Config/Data/*
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|
.dotnet-home/*
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codex-dotnet-home/*
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.dotnet-sdk8/*
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11
AGENTS.md
11
AGENTS.md
@@ -112,6 +112,15 @@ flyshot-replacement/
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- 所有静态变量都必须提供 XML 注释。
|
- 所有静态变量都必须提供 XML 注释。
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- 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。
|
- 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。
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||||||
|
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||||||
|
### 4.5 机器人模型字段约定
|
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|
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|
- 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。
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- 当前仓库约定：`velocity_eff = velocity_base`，`acceleration_eff = acceleration_base * acc_limit`，`jerk_eff = jerk_base * jerk_limit`。
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|
- `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。
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|
- 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。
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- 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。
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|
- 相关固定表格文档见 `docs/robot-joint-limit-table-20260505.md`。
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||||||
|
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## 5. 构建与验证命令
|
## 5. 构建与验证命令
|
||||||
|
|
||||||
在当前环境中，推荐使用下面两条命令：
|
在当前环境中，推荐使用下面两条命令：
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||||||
@@ -178,7 +187,7 @@ flyshot-replacement/
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|||||||
- `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。
|
||||||
- `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 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。实发按 `t_traj = k * 0.008 * speed_ratio` 重采样，`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 `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。
|
- `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。
|
- `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。
|
- `ExecuteTrajectory` / `ExecuteFlyShotTraj` 已接入 `Planning + Triggering + Runtime`，不再只是兼容层内存赋值。
|
||||||
|
|||||||
@@ -153,5 +153,5 @@ flyshot-replacement/
|
|||||||
- 解决方案构建已通过。
|
- 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。
|
- `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 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`。实发按 `t_traj = k * 0.008 * speed_ratio` 重采样，`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 `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。
|
- `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.
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,
|
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}
|
||||||
@@ -1 +1,305 @@
|
|||||||
{"robot": {"use_do": true, "io_addr": [7, 8], "io_keep_cycles": 2, "acc_limit": 1, "jerk_limit": 1, "adapt_icsp_try_num": 5}, "flying_shots": {"20251015": {"traj_waypoints": [[1.047438621520996, -0.0002488955215085298, -0.0014060207176953554, 0.009022523649036884, 0.010111905634403229, 0.009573347866535187], [0.7661270499229431, -0.04437164217233658, -0.13630111515522003, -0.41718506813049316, 0.010093353688716888, 0.009594489820301533], [0.7661266326904297, 0.2170650213956833, -0.13630135357379913, -0.4171852171421051, 0.010093353688716888, 0.009594779461622238], [1.0311520099639893, -0.062108494341373444, -0.1363297700881958, 0.30276036262512207, 0.15847623348236084, 0.00956842489540577], [1.4012629985809326, -0.05120057240128517, -0.13633012771606445, 0.3027600347995758, 0.15847666561603546, 0.00956842489540577], [1.0567246675491333, 0.01165649201720953, -0.01786380261182785, -0.015170873142778873, 0.02149667963385582, 0.009576244279742241]], "shot_flags": [false, true, true, true, true, true], "offset_values": [0, 0, 0, 0, 0, 0], "addr": [[], [2, 4], [3, 4], [2, 4], [3, 4], [2, 4]]}, "TEST20251214": {"traj_waypoints": [[1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846], [0.8067416, 0.011661344, -0.11788314, -0.01516874, 0.021492079, 0.009567846], [0.60675246, -0.03833516, -0.11788314, 0.034831185, -0.22849938, -0.24043223], [0.7667507, 0.20164281, -0.11788314, 0.034831185, -0.22849938, -0.24043223], [0.7667507, 0.20164281, -0.11788314, 0.034831185, -0.22849938, -0.14043556], [1.1667324, 0.05164983, -0.11789217, 0.23482007, 0.021492079, -0.14043556], [1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846]], "shot_flags": [false, true, true, true, true, true, false], "offset_values": [0, 0, 0, 0, 0, 0, 0], "addr": [[], [], [3, 4, 2], [3, 4, 2], [3, 4, 2], [3, 4, 2], []]}, "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], []]}, "5U": {"traj_waypoints": [[-0.95982397, 0.6331447, -1.0055008, 0.79858834, 1.1564041, -0.4260437], [-0.98353565, 0.66203266, -0.9758351, 0.8320198, 1.1455917, -0.45941326]], "shot_flags": [false, false], "offset_values": [0, 0], "addr": [[], []]}}}
|
{
|
||||||
|
"robot": {
|
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|
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|
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
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|
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|
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|
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|
||||||
|
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|
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|
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|
||||||
|
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|
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|
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|
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|
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|
||||||
|
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|
||||||
|
},
|
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|
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|
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|
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1.2300354,
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||||||
|
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,
|
||||||
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true,
|
||||||
|
true,
|
||||||
|
true,
|
||||||
|
true,
|
||||||
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true,
|
||||||
|
true,
|
||||||
|
true,
|
||||||
|
true,
|
||||||
|
false,
|
||||||
|
true,
|
||||||
|
false
|
||||||
|
],
|
||||||
|
"offset_values": [
|
||||||
|
0,
|
||||||
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0,
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||||||
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0,
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||||||
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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||||||
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0,
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0,
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0,
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0,
|
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0,
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|
0,
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0,
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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
|
||||||
|
],
|
||||||
|
[]
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|||||||
@@ -21,6 +21,7 @@
|
|||||||
- 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。
|
- 2026-04-28 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。
|
- 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。
|
- 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。
|
||||||
|
- 2026-05-11 对 `UTTC_MS11` 的独立 `ConfigRoot` 重新生成确认：flyshot 链路若继续用离散 `jerk` 作为阻断条件，会把新结果拉长到约 `16.576s / 33.152s`；只保留速度、加速度校验并跳过 flyshot jerk 阻断后，新 `1.0x / 0.5x` 时长回落到约 `7.552s / 15.104s`，与旧抓包主段 `7.408s / 14.808s` 的差异已很小，当前按可忽略处理。详见 `docs/uttc-ms11-jerk-validation-decision-20260511.md`。
|
||||||
- `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。
|
- `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。
|
||||||
|
|
||||||
@@ -103,7 +104,7 @@
|
|||||||
|
|
||||||
5. FANUC UDP 60015 J519 运动链路
|
5. FANUC UDP 60015 J519 运动链路
|
||||||
- [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] 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 8ms 发送索引/时间尺度：第 `k` 个 J519 目标采样 `t_traj = k * 0.008 * speed_ratio`，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
|
- [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] 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] 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`。
|
||||||
|
|||||||
21
analysis/2026042802-1/2026042802-1_analysis_summary.json
Normal file
21
analysis/2026042802-1/2026042802-1_analysis_summary.json
Normal file
@@ -0,0 +1,21 @@
|
|||||||
|
{
|
||||||
|
"pcap_path": "D:\\Dev\\Codes\\rvbust-code\\FlyingShotPkg_3.15_VDA\\Rvbust\\uttc-20260428\\2026042802-1.pcap",
|
||||||
|
"all_command_count": 1788,
|
||||||
|
"trigger_count": 17,
|
||||||
|
"existing_runtime_actual_send_exists": true,
|
||||||
|
"existing_runtime_actual_send_has_io_columns": false,
|
||||||
|
"existing_shot_events_exists": true,
|
||||||
|
"pcap_specific_combined_export_preexisting": false,
|
||||||
|
"average_max_error_deg": 4.241583591714439,
|
||||||
|
"max_error_deg": 11.130744251720401,
|
||||||
|
"average_rms_error_deg": 2.5406136706026206,
|
||||||
|
"max_error_axis_counter": {
|
||||||
|
"J6": 9,
|
||||||
|
"J4": 5,
|
||||||
|
"J5": 1,
|
||||||
|
"J2": 1,
|
||||||
|
"J1": 1
|
||||||
|
},
|
||||||
|
"order_only_addr_mismatch_count": 14,
|
||||||
|
"real_addr_mismatch_count": 0
|
||||||
|
}
|
||||||
1789
analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv
Normal file
1789
analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv
Normal file
File diff suppressed because it is too large
Load Diff
1790
analysis/2026042802-1/2026042802-1_j519_status_feedback_all.csv
Normal file
1790
analysis/2026042802-1/2026042802-1_j519_status_feedback_all.csv
Normal file
File diff suppressed because it is too large
Load Diff
18
analysis/2026042802-1/2026042802-1_j519_trigger_frames.csv
Normal file
18
analysis/2026042802-1/2026042802-1_j519_trigger_frames.csv
Normal file
@@ -0,0 +1,18 @@
|
|||||||
|
frame_number,time_relative_s,sequence,last_data,write_io_type,write_io_index,write_io_mask,write_io_value,io_addrs,j1_deg,j2_deg,j3_deg,j4_deg,j5_deg,j6_deg,ext1_deg,ext2_deg,ext3_deg
|
||||||
|
1955,5.888271,1381124,0,2,1,10,10,"[2, 4]",45.8632698059082,2.9724788665771484,-13.609341621398926,-2.1851141452789307,7.582361221313477,5.701517581939697,0.0,0.0,0.0
|
||||||
|
2151,6.480252,1381198,0,2,1,14,14,"[2, 3, 4]",56.34336471557617,11.66723918914795,-6.600923538208008,-68.1976089477539,6.058437347412109,71.5392837524414,0.0,0.0,0.0
|
||||||
|
2223,6.704225,1381226,0,2,1,14,14,"[2, 3, 4]",53.50831985473633,7.412222862243652,-9.629739761352539,-32.30571365356445,12.488306045532227,30.826189041137695,0.0,0.0,0.0
|
||||||
|
2336,7.048266,1381269,0,2,1,10,10,"[2, 4]",44.433006286621094,-2.1156294345855713,-18.39777374267578,4.8371992111206055,33.99372482299805,-20.26228904724121,0.0,0.0,0.0
|
||||||
|
2477,7.464289,1381321,0,2,1,10,10,"[2, 4]",65.84967041015625,5.695003032684326,-14.563636779785156,-28.69342613220215,27.678611755371094,46.437156677246094,0.0,0.0,0.0
|
||||||
|
2665,8.024277,1381391,0,2,1,12,12,"[3, 4]",60.847530364990234,24.47777557373047,-5.617043972015381,34.8044319152832,5.786255359649658,-31.2253475189209,0.0,0.0,0.0
|
||||||
|
2811,8.472317,1381447,0,2,1,12,12,"[3, 4]",70.8250503540039,10.95259952545166,-13.136046409606934,-34.68459701538086,14.022420883178711,38.90604019165039,0.0,0.0,0.0
|
||||||
|
2908,8.760361,1381483,0,2,1,10,10,"[2, 4]",69.40516662597656,-20.066781997680664,-8.152935981750488,-63.93235397338867,6.775912284851074,70.37761688232422,0.0,0.0,0.0
|
||||||
|
3112,9.384332,1381561,0,2,1,10,10,"[2, 4]",73.90592956542969,-8.016124725341797,-9.002426147460938,-131.3327178955078,15.526206970214844,142.41668701171875,0.0,0.0,0.0
|
||||||
|
3170,9.560358,1381583,0,2,1,10,10,"[2, 4]",76.72688293457031,-16.518726348876953,-7.15147066116333,-127.53003692626953,18.53788948059082,138.7897491455078,0.0,0.0,0.0
|
||||||
|
3350,10.104322,1381651,0,2,1,10,10,"[2, 4]",83.71662139892578,-13.186573028564453,-13.738808631896973,-72.70317840576172,26.66758918762207,91.98423767089844,0.0,0.0,0.0
|
||||||
|
3470,10.472333,1381697,0,2,1,10,10,"[2, 4]",59.78955841064453,-2.7094168663024902,-8.933828353881836,-108.24857330322266,21.177492141723633,114.14110565185547,0.0,0.0,0.0
|
||||||
|
3627,10.944371,1381756,0,2,1,12,12,"[3, 4]",86.41329193115234,4.266173362731934,-19.15987777709961,-52.24028015136719,29.853723526000977,55.86907196044922,0.0,0.0,0.0
|
||||||
|
3710,11.192339,1381787,0,2,1,10,10,"[2, 4]",110.7523193359375,0.8751887679100037,-34.756534576416016,-48.14332580566406,45.0865592956543,87.97444152832031,0.0,0.0,0.0
|
||||||
|
3796,11.456361,1381820,0,2,1,10,10,"[2, 4]",111.79177856445312,-6.225440502166748,-31.958988189697266,-53.68573760986328,44.76150894165039,89.33454895019531,0.0,0.0,0.0
|
||||||
|
3870,11.680362,1381848,0,2,1,10,10,"[2, 4]",117.87474060058594,-19.607177734375,-30.329103469848633,-56.600250244140625,49.08655548095703,90.32424926757812,0.0,0.0,0.0
|
||||||
|
4138,12.496365,1381950,0,2,1,12,12,"[3, 4]",59.93589401245117,-21.102140426635742,-9.684239387512207,70.64311981201172,32.941307067871094,-63.34855651855469,0.0,0.0,0.0
|
||||||
|
@@ -0,0 +1,37 @@
|
|||||||
|
{
|
||||||
|
"pcap_path": "D:\\Dev\\Codes\\rvbust-code\\FlyingShotPkg_3.15_VDA\\Rvbust\\uttc-20260428\\2026042802-1.pcap",
|
||||||
|
"command_count": 1788,
|
||||||
|
"trigger_count": 17,
|
||||||
|
"command_minus_paired_status_sequence_counter": {
|
||||||
|
"8": 17
|
||||||
|
},
|
||||||
|
"paired_status_average_max_error_deg": 6.469219290127501,
|
||||||
|
"paired_status_max_error_deg": 16.123934474475888,
|
||||||
|
"paired_status_max_error_axis_counter": {
|
||||||
|
"J1": 2,
|
||||||
|
"J6": 9,
|
||||||
|
"J2": 4,
|
||||||
|
"J4": 2
|
||||||
|
},
|
||||||
|
"best_status_average_max_error_deg": 0.14953970473465206,
|
||||||
|
"best_status_max_error_deg": 0.5696919293327056,
|
||||||
|
"best_status_max_error_axis_counter": {
|
||||||
|
"J6": 10,
|
||||||
|
"J1": 3,
|
||||||
|
"J5": 1,
|
||||||
|
"J2": 2,
|
||||||
|
"J4": 1
|
||||||
|
},
|
||||||
|
"best_status_delta_from_paired_cycles_counter": {
|
||||||
|
"10": 8,
|
||||||
|
"9": 9
|
||||||
|
},
|
||||||
|
"best_status_delta_from_trigger_sequence_counter": {
|
||||||
|
"2": 8,
|
||||||
|
"1": 9
|
||||||
|
},
|
||||||
|
"best_status_time_after_trigger_ms_min": 71.83799999999962,
|
||||||
|
"best_status_time_after_trigger_ms_max": 79.96399999999859,
|
||||||
|
"best_status_time_after_trigger_ms_avg": 75.6613529411763,
|
||||||
|
"search_window_cycles": 20
|
||||||
|
}
|
||||||
@@ -0,0 +1,18 @@
|
|||||||
|
trigger_no,waypoint_index,trigger_command_sequence,trigger_command_frame,trigger_command_time_relative_s,trigger_current_status_sequence,trigger_current_status_frame,trigger_current_status_time_relative_s,command_leads_status_cycles,trigger_current_status_max_error_axis,trigger_current_status_max_error_deg,trigger_current_status_rms_error_deg,best_status_sequence,best_status_frame,best_status_time_relative_s,best_status_delay_from_current_status_cycles,best_status_delay_from_trigger_command_cycles,best_status_delay_from_trigger_command_ms,best_status_max_error_axis,best_status_max_error_deg,best_status_rms_error_deg
|
||||||
|
1,1,1381124,1955,5.888271,1381116,1954,5.888166,8,J1,6.588241610414407,3.8225443630072706,1381126,1981,5.968124,10,2,79.85300000000083,J6,0.20758988641565335,0.12239685259209541
|
||||||
|
2,2,1381198,2151,6.480252,1381190,2150,6.480138,8,J1,2.33531536749085,1.3827543088729335,1381199,2172,6.552164,9,1,71.9120000000002,J1,0.08213390997131853,0.04616054814443023
|
||||||
|
3,3,1381226,2223,6.704225,1381218,2222,6.704166,8,J6,16.123934474475888,8.852376616648156,1381228,2248,6.784154,10,2,79.92899999999992,J6,0.5696919293327056,0.3239642953120798
|
||||||
|
4,4,1381269,2336,7.048266,1381261,2335,7.048148,8,J6,4.901882807288516,3.2440556235708993,1381271,2362,7.128175,10,2,79.90899999999979,J6,0.09470430997406254,0.06580474324148583
|
||||||
|
5,5,1381321,2477,7.464289,1381313,2476,7.464178,8,J6,9.21943820204428,4.621321121191458,1381323,2502,7.544122,10,2,79.83299999999983,J5,0.056622412878706285,0.03357478517689402
|
||||||
|
6,6,1381391,2665,8.024277,1381383,2664,8.024156,8,J6,6.1464605154096255,3.0478405356855083,1381392,2687,8.096181,9,1,71.90399999999997,J6,0.17697427883735983,0.08563125303054821
|
||||||
|
7,7,1381447,2811,8.472317,1381439,2810,8.472208,8,J6,13.15171783052326,7.78202379046887,1381448,2834,8.54419,9,1,71.87300000000008,J6,0.30658691011310424,0.18210669390591905
|
||||||
|
8,8,1381483,2908,8.760361,1381475,2907,8.760245,8,J6,7.436279407197546,5.127041386597523,1381484,2929,8.832199,9,1,71.83799999999962,J2,0.06074767130727565,0.02750705896232285
|
||||||
|
9,9,1381561,3112,9.384332,1381553,3111,9.384204,8,J6,5.585605293050492,3.277206017832995,1381562,3134,9.456205,9,1,71.87300000000008,J4,0.15225994654176134,0.089150370994325
|
||||||
|
10,10,1381583,3170,9.560358,1381575,3169,9.56025,8,J2,4.165077087081428,2.128983861449047,1381585,3196,9.640214,10,2,79.85599999999948,J6,0.0734395372110157,0.043285948566531826
|
||||||
|
11,11,1381651,3350,10.104322,1381643,3349,10.104215,8,J2,1.8309533977318093,1.169340011162825,1381652,3373,10.17622,9,1,71.8980000000009,J6,0.07766831894582538,0.04246508921571141
|
||||||
|
12,12,1381697,3470,10.472333,1381689,3469,10.472191,8,J4,4.822353276363401,2.8611252897135864,1381698,3493,10.544283,9,1,71.94999999999929,J1,0.021077280093038553,0.014935517911187784
|
||||||
|
13,13,1381756,3627,10.944371,1381748,3626,10.944251,8,J4,8.152507963730145,5.168659196117862,1381757,3651,11.016226,9,1,71.85499999999934,J1,0.14554304541260876,0.0699602863618738
|
||||||
|
14,14,1381787,3710,11.192339,1381779,3709,11.19225,8,J6,10.40441920064211,5.679810575214033,1381789,3735,11.272261,10,2,79.92199999999983,J6,0.11945317484617135,0.05835950688086092
|
||||||
|
15,15,1381820,3796,11.456361,1381812,3795,11.456253,8,J2,2.6161077284098373,1.5911754635072362,1381822,3821,11.536287,10,2,79.92600000000039,J2,0.14980253942005772,0.08716897465096986
|
||||||
|
16,16,1381848,3870,11.680362,1381840,3869,11.680263,8,J2,4.682473812334727,2.2067399623329567,1381850,3895,11.760326,10,2,79.96399999999859,J6,0.17295643126782068,0.10419421346699378
|
||||||
|
17,18,1381950,4138,12.496365,1381942,4137,12.496271,8,J6,1.8139599579791934,1.1536991630766555,1381951,4159,12.568313,9,1,71.94799999999901,J6,0.07492339792059965,0.03834497543010648
|
||||||
|
@@ -0,0 +1,18 @@
|
|||||||
|
trigger_no,waypoint_index,best_sample_order,best_frame_number,best_sequence,best_time_relative_s,teach_j1_deg,teach_j2_deg,teach_j3_deg,teach_j4_deg,teach_j5_deg,teach_j6_deg,offset_6_frame_number,offset_6_sequence,offset_6_time_relative_s,offset_6_max_error_axis,offset_6_max_error_deg,offset_6_rms_error_deg,offset_6_delta_from_best_ms,offset_6_j1_actual_deg,offset_6_diff_j1_deg,offset_6_j2_actual_deg,offset_6_diff_j2_deg,offset_6_j3_actual_deg,offset_6_diff_j3_deg,offset_6_j4_actual_deg,offset_6_diff_j4_deg,offset_6_j5_actual_deg,offset_6_diff_j5_deg,offset_6_j6_actual_deg,offset_6_diff_j6_deg,offset_7_frame_number,offset_7_sequence,offset_7_time_relative_s,offset_7_max_error_axis,offset_7_max_error_deg,offset_7_rms_error_deg,offset_7_delta_from_best_ms,offset_7_j1_actual_deg,offset_7_diff_j1_deg,offset_7_j2_actual_deg,offset_7_diff_j2_deg,offset_7_j3_actual_deg,offset_7_diff_j3_deg,offset_7_j4_actual_deg,offset_7_diff_j4_deg,offset_7_j5_actual_deg,offset_7_diff_j5_deg,offset_7_j6_actual_deg,offset_7_diff_j6_deg,offset_8_frame_number,offset_8_sequence,offset_8_time_relative_s,offset_8_max_error_axis,offset_8_max_error_deg,offset_8_rms_error_deg,offset_8_delta_from_best_ms,offset_8_j1_actual_deg,offset_8_diff_j1_deg,offset_8_j2_actual_deg,offset_8_diff_j2_deg,offset_8_j3_actual_deg,offset_8_diff_j3_deg,offset_8_j4_actual_deg,offset_8_diff_j4_deg,offset_8_j5_actual_deg,offset_8_diff_j5_deg,offset_8_j6_actual_deg,offset_8_diff_j6_deg,best_of_6_7_8_offset
|
||||||
|
1,1,730,1941,1381118,5.840207,48.886810269468405,2.1989850886957285,-11.021017368511105,0.4102097980549552,6.248381265333557,2.294990756284542,1955,1381124,5.888271,J6,3.4065268256551553,2.468438977201345,48.06399999999922,45.8632698059082,-3.0235404635602023,2.9724788665771484,0.7734937778814199,-13.609341621398926,-2.588324252887821,-2.1851141452789307,-2.5953239433338857,7.582361221313477,1.3339799559799195,5.701517581939697,3.4065268256551553,1958,1381125,5.896184,J6,4.180931828249149,2.9355776062802286,55.9769999999995,45.449710845947266,-3.43709942352114,3.117816925048828,0.9188318363530996,-13.963269233703613,-2.9422518651925085,-2.845515012741089,-3.255724810796044,7.768581867218018,1.5202006018844605,6.475922584533691,4.180931828249149,1961,1381126,5.904272,J6,5.0045521476156045,3.418446646752538,64.06499999999937,45.06731414794922,-3.8194961215191867,3.2660434246063232,1.0670583359105947,-14.290565490722656,-3.2695481222115514,-3.562589168548584,-3.972798966603539,7.9421586990356445,1.6937774337020874,7.2995429039001465,5.0045521476156045,6
|
||||||
|
2,2,804,2135,1381192,6.432175,55.34775509527405,11.807039833001637,-7.0090952672806885,-71.01433145543973,6.012065051914967,74.24953191606797,2151,1381198,6.480252,J4,2.8167225076858244,1.6562461612538633,48.07700000000015,56.34336471557617,0.995609620302119,11.66723918914795,-0.13980064385368784,-6.600923538208008,0.40817172907268073,-68.1976089477539,2.8167225076858244,6.058437347412109,0.04637229549714217,71.5392837524414,-2.7102481636265594,2153,1381199,6.488246,J4,3.526759739131137,2.060948429836345,56.071000000000204,56.451515197753906,1.1037601024798533,11.618118286132812,-0.18892154686882456,-6.580313682556152,0.4287815847245362,-67.4875717163086,3.526759739131137,6.09804105758667,0.08597600567170272,70.84339141845703,-3.4061404976109344,2155,1381200,6.496271,J4,4.301478977412387,2.5033932349312007,64.09600000000015,56.54535675048828,1.1976016552142283,11.561552047729492,-0.24548778527214488,-6.571277618408203,0.4378176488724854,-66.71285247802734,4.301478977412387,6.147788047790527,0.13572299587556014,70.078857421875,-4.170674494192966,6
|
||||||
|
3,3,832,2207,1381220,6.656264,55.109808014787404,8.759497374223619,-8.518216825284897,-41.11725046606459,10.108488114686867,41.956933292858096,2223,1381226,6.704225,J6,11.130744251720401,5.955607695749779,47.96099999999992,53.50831985473633,-1.6014881600510762,7.412222862243652,-1.3472745119799665,-9.629739761352539,-1.111522936067642,-32.30571365356445,8.811536812500137,12.488306045532227,2.379817930845359,30.826189041137695,-11.130744251720401,2227,1381227,6.712268,J6,13.165517124645206,7.03533795629365,56.00399999999972,53.18336486816406,-1.9264431466233418,7.154932975769043,-1.6045643984545759,-9.842713356018066,-1.3244965307331693,-30.750762939453125,10.366487526611465,12.961709976196289,2.8532218615094216,28.79141616821289,-13.165517124645206,2229,1381228,6.720286,J6,15.212756428234073,8.119717107623766,64.02199999999958,52.84844207763672,-2.2613659371506856,6.892857074737549,-1.86664029948607,-10.059968948364258,-1.5417521230793607,-29.200178146362305,11.917072319702285,13.449018478393555,3.340530363706687,26.744176864624023,-15.212756428234073,6
|
||||||
|
4,4,875,2321,1381263,7.000291,43.65359310453334,-1.629659559507137,-17.715753611915318,5.995208633582219,32.17171770646655,-22.573973337684023,2336,1381269,7.048266,J6,2.3116842904428125,1.3731583485126422,47.9750000000001,44.433006286621094,0.779413182087751,-2.1156294345855713,-0.48596987507843425,-18.39777374267578,-0.6820201307604634,4.8371992111206055,-1.158009422461613,33.99372482299805,1.8220071165314948,-20.26228904724121,2.3116842904428125,2339,1381270,7.056293,J6,3.083185831580508,1.7437179916275436,56.00200000000033,44.65972137451172,1.006128269978376,-2.1617355346679688,-0.5320759751608317,-18.490602493286133,-0.774848881370815,4.406780242919922,-1.5884283906622967,34.24979019165039,2.0780724851838386,-19.490787506103516,3.083185831580508,2341,1381271,7.064278,J6,3.9520155587533594,2.15807761350517,63.987000000000016,44.91068649291992,1.2570933883865791,-2.196718215942383,-0.5670586564352458,-18.575654983520508,-0.85990137160519,3.9164717197418213,-2.0787369138403973,34.48752212524414,2.3158044187775886,-18.621957778930664,3.9520155587533594,6
|
||||||
|
5,5,927,2457,1381315,7.416267,64.58244475717193,4.262979315506351,-15.669217122643433,-29.952927185666542,29.850439933020308,45.62652743544272,2477,1381321,7.464289,J5,2.171828177649214,1.404704060246151,48.021999999999565,65.84967041015625,1.2672256529843224,5.695003032684326,1.4320237171779748,-14.563636779785156,1.1055803428582767,-28.69342613220215,1.259501053464394,27.678611755371094,-2.171828177649214,46.437156677246094,0.810629241803376,2479,1381322,7.472265,J5,2.585320380408003,1.6670103454750829,55.99799999999977,66.01153564453125,1.4290908873593224,5.957343578338623,1.6943642628322717,-14.353693008422852,1.3155241142205814,-28.232824325561523,1.720102860105019,27.265119552612305,-2.585320380408003,46.24872589111328,0.6221984556705635,2483,1381323,7.480284,J5,3.0049218208376907,1.9507458917658702,64.01699999999977,66.15470886230469,1.57226410513276,6.221103191375732,1.958123875869381,-14.140877723693848,1.5283393989495853,-27.70670509338379,2.2462220922827534,26.845518112182617,-3.0049218208376907,45.96609115600586,0.33956372056314166,6
|
||||||
|
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||||||
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||||||
|
@@ -0,0 +1,18 @@
|
|||||||
|
{
|
||||||
|
"rows": 17,
|
||||||
|
"best_offset_win_counts": {
|
||||||
|
"6": 17,
|
||||||
|
"7": 0,
|
||||||
|
"8": 0
|
||||||
|
},
|
||||||
|
"average_max_error_deg": {
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||||||
|
"6": 4.241583591714439,
|
||||||
|
"7": 5.068092118561757,
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||||||
|
"8": 5.9316839578472145
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||||||
|
},
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||||||
|
"average_rms_error_deg": {
|
||||||
|
"6": 2.5406136706026206,
|
||||||
|
"7": 3.021296972079456,
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||||||
|
"8": 3.5201758351699857
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||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,18 @@
|
|||||||
|
trigger_no,waypoint_index,trigger_frame_number,trigger_time_relative_s,trigger_sequence,paired_status_frame_number,paired_status_time_relative_s,paired_status_sequence,paired_status_timestamp,paired_status_to_trigger_sequence_delta,paired_status_to_trigger_time_ms,teach_j1_deg,teach_j2_deg,teach_j3_deg,teach_j4_deg,teach_j5_deg,teach_j6_deg,paired_status_j1_actual_deg,paired_status_diff_j1_deg,paired_status_j2_actual_deg,paired_status_diff_j2_deg,paired_status_j3_actual_deg,paired_status_diff_j3_deg,paired_status_j4_actual_deg,paired_status_diff_j4_deg,paired_status_j5_actual_deg,paired_status_diff_j5_deg,paired_status_j6_actual_deg,paired_status_diff_j6_deg,paired_status_max_error_axis,paired_status_max_error_deg,paired_status_rms_error_deg,best_status_frame_number,best_status_time_relative_s,best_status_sequence,best_status_timestamp,best_status_delta_from_paired_cycles,best_status_delta_from_trigger_sequence,best_status_time_after_trigger_ms,best_status_j1_actual_deg,best_status_diff_j1_deg,best_status_j2_actual_deg,best_status_diff_j2_deg,best_status_j3_actual_deg,best_status_diff_j3_deg,best_status_j4_actual_deg,best_status_diff_j4_deg,best_status_j5_actual_deg,best_status_diff_j5_deg,best_status_j6_actual_deg,best_status_diff_j6_deg,best_status_max_error_axis,best_status_max_error_deg,best_status_rms_error_deg
|
||||||
|
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||||||
|
2,2,2151,6.480252,1381198,2150,6.480138,1381190,624368972,-8,-0.11399999999994748,55.34775509527405,11.807039833001637,-7.0090952672806885,-71.01433145543973,6.012065051914967,74.24953191606797,53.0124397277832,-2.33531536749085,11.506516456604004,-0.30052337639763316,-8.466276168823242,-1.4571809015425536,-69.63382720947266,1.3805042459670744,6.426647663116455,0.41458261120148787,72.93537902832031,-1.3141528877476532,J1,2.33531536749085,1.3827543088729335,2172,6.552164,1381199,624369044,9,1,71.9120000000002,55.265621185302734,-0.08213390997131853,11.803675651550293,-0.003364181451344095,-7.050373554229736,-0.04127828694904778,-71.06609344482422,-0.05176198938448806,6.026607990264893,0.014542938349925372,74.28738403320312,0.03785211713515935,J1,0.08213390997131853,0.04616054814443023
|
||||||
|
3,3,2223,6.704225,1381226,2222,6.704166,1381218,624369196,-8,-0.059000000000253294,55.109808014787404,8.759497374223619,-8.518216825284897,-41.11725046606459,10.108488114686867,41.956933292858096,56.5781364440918,1.4683284293043926,10.494372367858887,1.7348749936352679,-7.114619255065918,1.4035975702189791,-55.112239837646484,-13.994989371581894,7.423236846923828,-2.6852512677630394,58.080867767333984,16.123934474475888,J6,16.123934474475888,8.852376616648156,2248,6.784154,1381228,624369276,10,2,79.92899999999992,55.00252151489258,-0.10728649989482619,8.69005012512207,-0.06944724910154854,-8.577027320861816,-0.05881049557691931,-40.59286117553711,0.5243892905274805,10.210430145263672,0.1019420305768044,41.38724136352539,-0.5696919293327056,J6,0.5696919293327056,0.3239642953120798
|
||||||
|
4,4,2336,7.048266,1381269,2335,7.048148,1381261,624369540,-8,-0.11799999999961841,43.65359310453334,-1.629659559507137,-17.715753611915318,5.995208633582219,32.17171770646655,-22.573973337684023,44.479610443115234,0.8260173385818916,0.07192186266183853,1.7015814221689756,-15.996956825256348,1.7187967866589702,2.40028715133667,-3.5949214822455486,27.737812042236328,-4.433905664230224,-17.672090530395508,4.901882807288516,J6,4.901882807288516,3.2440556235708993,2362,7.128175,1381271,624369620,10,2,79.90899999999979,43.72715759277344,0.07356448824009476,-1.6386029720306396,-0.008943412523502614,-17.75617218017578,-0.04041856826046342,5.952699661254883,-0.04250897232733575,32.2616081237793,0.08989041731274483,-22.47926902770996,0.09470430997406254,J6,0.09470430997406254,0.06580474324148583
|
||||||
|
5,5,2477,7.464289,1381321,2476,7.464178,1381313,624369956,-8,-0.11099999999952814,64.58244475717193,4.262979315506351,-15.669217122643433,-29.952927185666542,29.850439933020308,45.62652743544272,60.830230712890625,-3.7522140442813026,1.8808640241622925,-2.382115291344059,-17.297021865844727,-1.6278047432012936,-26.684900283813477,3.268026901853066,33.02191925048828,3.1714793174679734,36.40708923339844,-9.21943820204428,J6,9.21943820204428,4.621321121191458,2502,7.544122,1381323,624370036,10,2,79.83299999999983,64.5761947631836,-0.006249993988333813,4.283629417419434,0.020650101913082253,-15.615406036376953,0.05381108626647979,-29.94143295288086,0.011494232785683067,29.7938175201416,-0.056622412878706285,45.61851119995117,-0.008016235491545842,J5,0.056622412878706285,0.03357478517689402
|
||||||
|
6,6,2665,8.024277,1381391,2664,8.024156,1381383,624370516,-8,-0.12100000000003774,60.47948252708421,23.068781981390185,-5.01126420129949,36.10685486878251,5.525681179628412,-31.3025636495649,60.89759063720703,0.418108110122823,20.716407775878906,-2.3523742055112784,-4.913214206695557,0.09804999460393304,32.72084045410156,-3.3860144146809503,6.405356407165527,0.8796752275371151,-25.156103134155273,6.1464605154096255,J6,6.1464605154096255,3.0478405356855083,2687,8.096181,1381392,624370588,9,1,71.90399999999997,60.54315185546875,0.06366932838454176,22.99761962890625,-0.07116235248393465,-5.037043571472168,-0.025779370172678284,36.056732177734375,-0.050122691048137824,5.545217037200928,0.019535857572515525,-31.12558937072754,0.17697427883735983,J6,0.17697427883735983,0.08563125303054821
|
||||||
|
7,7,2811,8.472317,1381447,2810,8.472208,1381439,624370964,-8,-0.10900000000013677,70.47583707168602,16.39384887825908,-13.456948007467595,-27.892318852946243,14.53566195089614,31.71193282686115,69.13842010498047,-1.3374169667055469,22.202428817749023,5.808579939489942,-12.907807350158691,0.5491406573089037,-15.469873428344727,12.422445424601516,14.040997505187988,-0.4946644457081515,18.56021499633789,-13.15171783052326,J6,13.15171783052326,7.78202379046887,2834,8.54419,1381448,624371036,9,1,71.87300000000008,70.3967514038086,-0.07908566787742188,16.456680297851562,0.06283141959248084,-13.330730438232422,0.12621756923517324,-27.611600875854492,0.2807179770917507,14.542427062988281,0.006765112092141479,31.405345916748047,-0.30658691011310424,J6,0.30658691011310424,0.18210669390591905
|
||||||
|
8,8,2908,8.760361,1381483,2907,8.760245,1381475,624371252,-8,-0.11600000000022703,69.58246408878419,-17.10571341532583,-8.710589696831251,-58.47569441890704,7.63059003611043,64.43773280685575,70.10379791259766,0.5213338238134639,-10.075156211853027,7.030557203472803,-9.98978042602539,-1.2791907291941396,-51.5866584777832,6.889035941123836,9.534638404846191,1.9040483687357614,57.0014533996582,-7.436279407197546,J6,7.436279407197546,5.127041386597523,2929,8.832199,1381484,624371324,9,1,71.83799999999962,69.59716033935547,0.014696250571276437,-17.044965744018555,0.06074767130727565,-8.703485488891602,0.007104207939649498,-58.473426818847656,0.0022676000593833123,7.6463942527771,0.015804216666669646,64.45584869384766,0.01811588699190736,J2,0.06074767130727565,0.02750705896232285
|
||||||
|
9,9,3112,9.384332,1381561,3111,9.384204,1381553,624371876,-8,-0.128000000000128,73.57125874861414,-6.42984524964374,-9.628579811400881,-128.80864727564332,14.671082817606491,140.00204816414424,72.96144104003906,-0.6098177085750791,-6.3001484870910645,0.12969676255267526,-10.035088539123535,-0.40650872772265423,-123.29313659667969,5.515510678963636,13.165532112121582,-1.505550705484909,134.41644287109375,-5.585605293050492,J6,5.585605293050492,3.277206017832995,3134,9.456205,1381562,624371948,9,1,71.87300000000008,73.55095672607422,-0.02030202253992286,-6.441007614135742,-0.011162364492002474,-9.614203453063965,0.014376358336916084,-128.65638732910156,0.15225994654176134,14.635379791259766,-0.03570302634672551,139.8520965576172,-0.14995160652705408,J4,0.15225994654176134,0.089150370994325
|
||||||
|
10,10,3170,9.560358,1381583,3169,9.56025,1381575,624372052,-8,-0.10800000000088517,75.56938603377543,-14.67930590788221,-7.294156094303152,-130.92303342701462,17.688361072687904,141.89350789658602,74.36400604248047,-1.2053799912949614,-10.514228820800781,4.165077087081428,-8.236283302307129,-0.9421272080039769,-132.6507110595703,-1.7276776325556966,16.38176155090332,-1.3065995217845838,143.5712890625,1.6777811659139843,J2,4.165077087081428,2.128983861449047,3196,9.640214,1381585,624372132,10,2,79.85599999999948,75.62290954589844,0.05352351212300732,-14.662798881530762,0.016507026351447962,-7.297325611114502,-0.003169516811349915,-130.88812255859375,0.03491086842086588,17.726865768432617,0.03850469574471305,141.820068359375,-0.0734395372110157,J6,0.0734395372110157,0.043285948566531826
|
||||||
|
11,11,3350,10.104322,1381651,3349,10.104215,1381643,624372596,-8,-0.10699999999985721,86.0934977330502,-14.498333177585573,-13.681510793859989,-69.8682955440411,26.742681901805224,88.9994136192388,87.81878662109375,1.7252888880435506,-16.329286575317383,-1.8309533977318093,-13.073507308959961,0.6080034849000278,-70.97254180908203,-1.1042462650409277,26.366661071777344,-0.3760208300278798,89.37981414794922,0.3804005287104246,J2,1.8309533977318093,1.169340011162825,3373,10.17622,1381652,624372668,9,1,71.8980000000009,86.11857604980469,0.025078316754488128,-14.53605842590332,-0.03772524831774682,-13.651655197143555,0.029855596716434007,-69.8272933959961,0.04100214804500979,26.72992706298828,-0.012754838816942282,88.92174530029297,-0.07766831894582538,J6,0.07766831894582538,0.04246508921571141
|
||||||
|
12,12,3470,10.472333,1381697,3469,10.472191,1381689,624372964,-8,-0.14200000000030855,61.720732564877665,-4.2327893098442155,-9.784423185760874,-108.38408270751574,22.16077221865394,118.14206389103131,65.91849517822266,4.197762613344992,-6.331206798553467,-2.0984174887092513,-11.008773803710938,-1.2243506179500638,-103.56172943115234,4.822353276363401,23.532543182373047,1.3717709637191078,117.46694946289062,-0.675114428140688,J4,4.822353276363401,2.8611252897135864,3493,10.544283,1381698,624373036,9,1,71.94999999999929,61.7418098449707,0.021077280093038553,-4.212831497192383,0.019957812651832718,-9.789913177490234,-0.00548999172936071,-108.36312103271484,0.020961674800901164,22.163673400878906,0.002901182224967158,118.13783264160156,-0.0042312494297505054,J1,0.021077280093038553,0.014935517911187784
|
||||||
|
13,13,3627,10.944371,1381756,3626,10.944251,1381748,624373436,-8,-0.12000000000078614,79.75708299218505,4.6402310571176475,-15.311185536748695,-56.03531247084017,26.13313788666632,52.152257172101606,72.04009246826172,-7.716990523923329,4.5515007972717285,-0.08873025984591898,-11.385177612304688,3.926007924444008,-64.18782043457031,-8.152507963730145,22.412456512451172,-3.7206813742151468,54.39056396484375,2.2383067927421436,J4,8.152507963730145,5.168659196117862,3651,11.016226,1381757,624373508,9,1,71.85499999999934,79.90262603759766,0.14554304541260876,4.62429666519165,-0.015934391925997105,-15.370849609375,-0.05966407262630469,-55.99199676513672,0.043315705703449225,26.182939529418945,0.04980164275262666,52.15596008300781,0.003702910906206114,J1,0.14554304541260876,0.0699602863618738
|
||||||
|
14,14,3710,11.192339,1381787,3709,11.19225,1381779,624373684,-8,-0.08900000000089392,108.95555081237923,1.3707600427061273,-33.59442519685133,-48.36736100282485,43.963403989432074,85.03926111958742,102.20675659179688,-6.748794220582354,2.5045764446258545,1.1338164019197272,-29.148040771484375,4.446384425366958,-48.76271438598633,-0.3953533831614777,39.65629959106445,-4.3071043983676205,74.63484191894531,-10.40441920064211,J6,10.40441920064211,5.679810575214033,3735,11.272261,1381789,624373764,10,2,79.92199999999983,108.94917297363281,-0.006377838746416842,1.3447811603546143,-0.025978882351513022,-33.561458587646484,0.032966609204848396,-48.376487731933594,-0.009126729108743348,44.02882766723633,0.06542367780425451,85.1587142944336,0.11945317484617135,J6,0.11945317484617135,0.05835950688086092
|
||||||
|
15,15,3796,11.456361,1381820,3795,11.456253,1381812,624373948,-8,-0.10799999999910881,110.58484797608095,-3.860899593758653,-32.39640711653168,-51.112590875369015,44.2291595765054,87.62399978413751,110.58193969726562,-0.002908278815326071,-1.244791865348816,2.6161077284098373,-33.74542999267578,-1.3490228761441045,-48.585723876953125,2.5268669984158905,44.58126449584961,0.35210491934420673,87.75857543945312,0.134575655315615,J2,2.6161077284098373,1.5911754635072362,3821,11.536287,1381822,624374028,10,2,79.92600000000039,110.67292022705078,0.08807225096983018,-4.010702133178711,-0.14980253942005772,-32.37457275390625,0.021834362625426706,-51.22603225708008,-0.11344138171106266,44.249629974365234,0.020470397859831735,87.66435241699219,0.040352632854677495,J2,0.14980253942005772,0.08716897465096986
|
||||||
|
16,16,3870,11.680362,1381848,3869,11.680263,1381840,624374172,-8,-0.09900000000051534,118.09595224767921,-17.37638727211256,-31.06900084212659,-59.56053843778568,48.73257576059714,94.13477131163891,115.98970031738281,-2.106251930296395,-12.693913459777832,4.682473812334727,-31.563575744628906,-0.49457490250231473,-59.300933837890625,0.2596045998950558,47.15116500854492,-1.5814107520522214,94.34331512451172,0.20854381287280432,J2,4.682473812334727,2.2067399623329567,3895,11.760326,1381850,624374252,10,2,79.96399999999859,118.06391906738281,-0.0320331802963949,-17.536325454711914,-0.15993818259935466,-31.00341796875,0.06558287337659152,-59.507286071777344,0.05325236600833705,48.77106475830078,0.038488997703638006,93.9618148803711,-0.17295643126782068,J6,0.17295643126782068,0.10419421346699378
|
||||||
|
17,18,4138,12.496365,1381950,4137,12.496271,1381942,624374988,-8,-0.09400000000070463,60.28248244838438,-22.938080568038327,-10.333247998560786,77.49164224770549,35.58337770883919,-69.66898071584893,61.48033142089844,1.197848972514059,-23.1823787689209,-0.2442982008825716,-10.346473693847656,-0.01322569528687012,79.24906921386719,1.7574269661617024,35.91868591308594,0.33530820424675056,-71.48294067382812,-1.8139599579791934,J6,1.8139599579791934,1.1536991630766555,4159,12.568313,1381951,624375060,9,1,71.94799999999901,60.27695846557617,-0.00552398280820654,-22.918088912963867,0.019991655074459658,-10.347146987915039,-0.013898989354252933,77.54158782958984,0.0499455818843586,35.57386016845703,-0.009517540382155687,-69.74390411376953,-0.07492339792059965,J6,0.07492339792059965,0.03834497543010648
|
||||||
|
@@ -0,0 +1,18 @@
|
|||||||
|
trigger_no,waypoint_index,frame_number,sequence,time_relative_s,write_io_value,io_addrs,config_addr,max_error_axis,max_error_deg,rms_error_deg,j1_actual_deg,j1_teach_deg,diff_j1_deg,j2_actual_deg,j2_teach_deg,diff_j2_deg,j3_actual_deg,j3_teach_deg,diff_j3_deg,j4_actual_deg,j4_teach_deg,diff_j4_deg,j5_actual_deg,j5_teach_deg,diff_j5_deg,j6_actual_deg,j6_teach_deg,diff_j6_deg
|
||||||
|
1,1,1955,1381124,5.888271,10,"[2, 4]","[2, 4]",J6,3.4065268256551553,2.468438977201345,45.8632698059082,48.886810269468405,-3.0235404635602023,2.9724788665771484,2.1989850886957285,0.7734937778814199,-13.609341621398926,-11.021017368511105,-2.588324252887821,-2.1851141452789307,0.4102097980549552,-2.5953239433338857,7.582361221313477,6.248381265333557,1.3339799559799195,5.701517581939697,2.294990756284542,3.4065268256551553
|
||||||
|
2,2,2151,1381198,6.480252,14,"[2, 3, 4]","[3, 4, 2]",J4,2.8167225076858244,1.6562461612538633,56.34336471557617,55.34775509527405,0.995609620302119,11.66723918914795,11.807039833001637,-0.13980064385368784,-6.600923538208008,-7.0090952672806885,0.40817172907268073,-68.1976089477539,-71.01433145543973,2.8167225076858244,6.058437347412109,6.012065051914967,0.04637229549714217,71.5392837524414,74.24953191606797,-2.7102481636265594
|
||||||
|
3,3,2223,1381226,6.704225,14,"[2, 3, 4]","[3, 4, 2]",J6,11.130744251720401,5.955607695749779,53.50831985473633,55.109808014787404,-1.6014881600510762,7.412222862243652,8.759497374223619,-1.3472745119799665,-9.629739761352539,-8.518216825284897,-1.111522936067642,-32.30571365356445,-41.11725046606459,8.811536812500137,12.488306045532227,10.108488114686867,2.379817930845359,30.826189041137695,41.956933292858096,-11.130744251720401
|
||||||
|
4,4,2336,1381269,7.048266,10,"[2, 4]","[4, 2]",J6,2.3116842904428125,1.3731583485126422,44.433006286621094,43.65359310453334,0.779413182087751,-2.1156294345855713,-1.629659559507137,-0.48596987507843425,-18.39777374267578,-17.715753611915318,-0.6820201307604634,4.8371992111206055,5.995208633582219,-1.158009422461613,33.99372482299805,32.17171770646655,1.8220071165314948,-20.26228904724121,-22.573973337684023,2.3116842904428125
|
||||||
|
5,5,2477,1381321,7.464289,10,"[2, 4]","[4, 2]",J5,2.171828177649214,1.404704060246151,65.84967041015625,64.58244475717193,1.2672256529843224,5.695003032684326,4.262979315506351,1.4320237171779748,-14.563636779785156,-15.669217122643433,1.1055803428582767,-28.69342613220215,-29.952927185666542,1.259501053464394,27.678611755371094,29.850439933020308,-2.171828177649214,46.437156677246094,45.62652743544272,0.810629241803376
|
||||||
|
6,6,2665,1381391,8.024277,12,"[3, 4]","[3, 4]",J2,1.408993592340284,0.8424031169595625,60.847530364990234,60.47948252708421,0.36804783790602613,24.47777557373047,23.068781981390185,1.408993592340284,-5.617043972015381,-5.01126420129949,-0.6057797707158912,34.8044319152832,36.10685486878251,-1.3024229534993097,5.786255359649658,5.525681179628412,0.260574180021246,-31.2253475189209,-31.3025636495649,0.07721613064400046
|
||||||
|
7,7,2811,1381447,8.472317,12,"[3, 4]","[3, 4]",J6,7.1941073647892395,4.618545262978315,70.8250503540039,70.47583707168602,0.3492132823178906,10.95259952545166,16.39384887825908,-5.4412493528074215,-13.136046409606934,-13.456948007467595,0.3209015978606615,-34.68459701538086,-27.892318852946243,-6.7922781624346165,14.022420883178711,14.53566195089614,-0.5132410677174288,38.90604019165039,31.71193282686115,7.1941073647892395
|
||||||
|
8,8,2908,1381483,8.760361,10,"[2, 4]","[4, 2]",J6,5.93988407546847,3.533132924843701,69.40516662597656,69.58246408878419,-0.1772974628076298,-20.066781997680664,-17.10571341532583,-2.9610685823548337,-8.152935981750488,-8.710589696831251,0.5576537150807628,-63.93235397338867,-58.47569441890704,-5.456659554481632,6.775912284851074,7.63059003611043,-0.8546777512593557,70.37761688232422,64.43773280685575,5.93988407546847
|
||||||
|
9,9,3112,1381561,9.384332,10,"[2, 4]","[4, 2]",J4,2.5240706198644887,1.630593251762862,73.90592956542969,73.57125874861414,0.3346708168155459,-8.016124725341797,-6.42984524964374,-1.5862794756980572,-9.002426147460938,-9.628579811400881,0.6261536639399434,-131.3327178955078,-128.80864727564332,-2.5240706198644887,15.526206970214844,14.671082817606491,0.8551241526083526,142.41668701171875,140.00204816414424,2.4146388475745084
|
||||||
|
10,10,3170,1381583,9.560358,10,"[2, 4]","[4, 2]",J4,3.3929965007450846,2.1059862266772753,76.72688293457031,75.56938603377543,1.1574969007948823,-16.518726348876953,-14.67930590788221,-1.8394204409947434,-7.15147066116333,-7.294156094303152,0.14268543313982196,-127.53003692626953,-130.92303342701462,3.3929965007450846,18.53788948059082,17.688361072687904,0.8495284079029162,138.7897491455078,141.89350789658602,-3.103758751078203
|
||||||
|
11,11,3350,1381651,10.104322,10,"[2, 4]","[4, 2]",J6,2.9848240516596434,2.0134925384056306,83.71662139892578,86.0934977330502,-2.376876334124418,-13.186573028564453,-14.498333177585573,1.3117601490211204,-13.738808631896973,-13.681510793859989,-0.05729783803698396,-72.70317840576172,-69.8682955440411,-2.834882861720615,26.66758918762207,26.742681901805224,-0.07509271418315322,91.98423767089844,88.9994136192388,2.9848240516596434
|
||||||
|
12,12,3470,1381697,10.472333,10,"[2, 4]","[4, 2]",J6,4.000958239175844,1.9902461373621054,59.78955841064453,61.720732564877665,-1.9311741542331333,-2.7094168663024902,-4.2327893098442155,1.5233724435417253,-8.933828353881836,-9.784423185760874,0.8505948318790377,-108.24857330322266,-108.38408270751574,0.13550940429308866,21.177492141723633,22.16077221865394,-0.9832800769303063,114.14110565185547,118.14206389103131,-4.000958239175844
|
||||||
|
13,13,3627,1381756,10.944371,12,"[3, 4]","[4, 3]",J1,6.656208938967296,4.109282348845555,86.41329193115234,79.75708299218505,6.656208938967296,4.266173362731934,4.6402310571176475,-0.3740576943857139,-19.15987777709961,-15.311185536748695,-3.848692240350914,-52.24028015136719,-56.03531247084017,3.7950323194729805,29.853723526000977,26.13313788666632,3.720585639334658,55.86907196044922,52.152257172101606,3.7168147883476124
|
||||||
|
14,14,3710,1381787,11.192339,10,"[2, 4]","[4, 2]",J6,2.93518040873289,1.5679827735552678,110.7523193359375,108.95555081237923,1.7967685235582707,0.8751887679100037,1.3707600427061273,-0.4955712747961236,-34.756534576416016,-33.59442519685133,-1.1621093795646829,-48.14332580566406,-48.36736100282485,0.2240351971607879,45.0865592956543,43.963403989432074,1.1231553062222233,87.97444152832031,85.03926111958742,2.93518040873289
|
||||||
|
15,15,3796,1381820,11.456361,10,"[2, 4]","[4, 2]",J4,2.573146734494266,1.686689503314435,111.79177856445312,110.58484797608095,1.206930588372174,-6.225440502166748,-3.860899593758653,-2.364540908408095,-31.958988189697266,-32.39640711653168,0.4374189268344111,-53.68573760986328,-51.112590875369015,-2.573146734494266,44.76150894165039,44.2291595765054,0.532349365144988,89.33454895019531,87.62399978413751,1.7105491660578025
|
||||||
|
16,16,3870,1381848,11.680362,10,"[2, 4]","[4, 2]",J6,3.8105220440607894,2.197782779718695,117.87474060058594,118.09595224767921,-0.2212116470932699,-19.607177734375,-17.37638727211256,-2.2307904622624406,-30.329103469848633,-31.06900084212659,0.7398973722779587,-56.600250244140625,-59.56053843778568,2.960288193645056,49.08655548095703,48.73257576059714,0.353979720359888,90.32424926757812,94.13477131163891,-3.8105220440607894
|
||||||
|
17,18,4138,1381950,12.496365,12,"[3, 4]","[4, 3]",J4,6.848522435693766,4.03614029285736,59.93589401245117,60.28248244838438,-0.34658843593320654,-21.102140426635742,-22.938080568038327,1.8359401414025847,-9.684239387512207,-10.333247998560786,0.6490086110485791,70.64311981201172,77.49164224770549,-6.848522435693766,32.941307067871094,35.58337770883919,-2.642070640968093,-63.34855651855469,-69.66898071584893,6.320424197294244
|
||||||
|
363
analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py
Normal file
363
analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py
Normal file
@@ -0,0 +1,363 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""提取 2026042802-1 抓包中的 60015 状态反馈，并和 UTTC_MS11 示教点对比。"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import csv
|
||||||
|
import json
|
||||||
|
import math
|
||||||
|
import struct
|
||||||
|
import subprocess
|
||||||
|
from collections import Counter
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
|
||||||
|
REPO_ROOT = Path(__file__).resolve().parents[1]
|
||||||
|
DEFAULT_PCAP = REPO_ROOT.parent / "Rvbust" / "uttc-20260428" / "2026042802-1.pcap"
|
||||||
|
DEFAULT_TSHARK = Path(r"D:\Zyx\Downloads\WiresharkPortable32\App\Wireshark\tshark.exe")
|
||||||
|
OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1"
|
||||||
|
CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json"
|
||||||
|
SEARCH_WINDOW_CYCLES = 20
|
||||||
|
|
||||||
|
|
||||||
|
def be_u32(data: bytes, offset: int) -> int:
|
||||||
|
"""按大端读取 4 字节无符号整数。"""
|
||||||
|
return struct.unpack(">I", data[offset : offset + 4])[0]
|
||||||
|
|
||||||
|
|
||||||
|
def be_u16(data: bytes, offset: int) -> int:
|
||||||
|
"""按大端读取 2 字节无符号整数。"""
|
||||||
|
return struct.unpack(">H", data[offset : offset + 2])[0]
|
||||||
|
|
||||||
|
|
||||||
|
def be_f32(data: bytes, offset: int) -> float:
|
||||||
|
"""按大端读取 4 字节浮点数。"""
|
||||||
|
return struct.unpack(">f", data[offset : offset + 4])[0]
|
||||||
|
|
||||||
|
|
||||||
|
def load_udp_rows(pcap: Path, tshark: Path) -> list[list[str]]:
|
||||||
|
"""提取 UDP 60015 原始字段，后续按方向和长度拆分命令与状态。"""
|
||||||
|
command = [
|
||||||
|
str(tshark),
|
||||||
|
"-r",
|
||||||
|
str(pcap),
|
||||||
|
"-Y",
|
||||||
|
"udp.port==60015",
|
||||||
|
"-T",
|
||||||
|
"fields",
|
||||||
|
"-e",
|
||||||
|
"frame.number",
|
||||||
|
"-e",
|
||||||
|
"frame.time_relative",
|
||||||
|
"-e",
|
||||||
|
"ip.src",
|
||||||
|
"-e",
|
||||||
|
"ip.dst",
|
||||||
|
"-e",
|
||||||
|
"udp.payload",
|
||||||
|
]
|
||||||
|
output = subprocess.check_output(command, text=True, encoding="utf-8", errors="ignore")
|
||||||
|
rows: list[list[str]] = []
|
||||||
|
for line in output.splitlines():
|
||||||
|
if not line.strip():
|
||||||
|
continue
|
||||||
|
parts = line.split("\t")
|
||||||
|
if len(parts) >= 5:
|
||||||
|
rows.append(parts[:5])
|
||||||
|
return rows
|
||||||
|
|
||||||
|
|
||||||
|
def decode_command_records(rows: list[list[str]], client_ip: str, robot_ip: str) -> list[dict]:
|
||||||
|
"""把 64B J519 命令帧解码成结构化记录。"""
|
||||||
|
records: list[dict] = []
|
||||||
|
for frame_no, time_rel, ip_src, ip_dst, payload_hex in rows:
|
||||||
|
if ip_src != client_ip or ip_dst != robot_ip:
|
||||||
|
continue
|
||||||
|
|
||||||
|
payload = bytes.fromhex(payload_hex)
|
||||||
|
if len(payload) != 64:
|
||||||
|
continue
|
||||||
|
|
||||||
|
records.append(
|
||||||
|
{
|
||||||
|
"frame_number": int(frame_no),
|
||||||
|
"time_relative_s": float(time_rel),
|
||||||
|
"sequence": be_u32(payload, 0x08),
|
||||||
|
"write_io_value": be_u16(payload, 0x18),
|
||||||
|
"j1_deg": be_f32(payload, 0x1C),
|
||||||
|
"j2_deg": be_f32(payload, 0x20),
|
||||||
|
"j3_deg": be_f32(payload, 0x24),
|
||||||
|
"j4_deg": be_f32(payload, 0x28),
|
||||||
|
"j5_deg": be_f32(payload, 0x2C),
|
||||||
|
"j6_deg": be_f32(payload, 0x30),
|
||||||
|
}
|
||||||
|
)
|
||||||
|
return records
|
||||||
|
|
||||||
|
|
||||||
|
def decode_status_records(rows: list[list[str]], client_ip: str, robot_ip: str) -> list[dict]:
|
||||||
|
"""把 132B J519 状态帧按运行时代码同口径解码。"""
|
||||||
|
records: list[dict] = []
|
||||||
|
for frame_no, time_rel, ip_src, ip_dst, payload_hex in rows:
|
||||||
|
if ip_src != robot_ip or ip_dst != client_ip:
|
||||||
|
continue
|
||||||
|
|
||||||
|
payload = bytes.fromhex(payload_hex)
|
||||||
|
if len(payload) != 132:
|
||||||
|
continue
|
||||||
|
|
||||||
|
status = payload[0x0C]
|
||||||
|
joints = [be_f32(payload, 0x3C + index * 4) for index in range(6)]
|
||||||
|
pose = [be_f32(payload, 0x18 + index * 4) for index in range(6)]
|
||||||
|
records.append(
|
||||||
|
{
|
||||||
|
"frame_number": int(frame_no),
|
||||||
|
"time_relative_s": float(time_rel),
|
||||||
|
"sequence": be_u32(payload, 0x08),
|
||||||
|
"status": status,
|
||||||
|
"accepts_command": bool(status & 0b0001),
|
||||||
|
"received_command": bool(status & 0b0010),
|
||||||
|
"system_ready": bool(status & 0b0100),
|
||||||
|
"robot_in_motion": bool(status & 0b1000),
|
||||||
|
"read_io_value": be_u16(payload, 0x12),
|
||||||
|
"timestamp": be_u32(payload, 0x14),
|
||||||
|
"pose_x_mm": pose[0],
|
||||||
|
"pose_y_mm": pose[1],
|
||||||
|
"pose_z_mm": pose[2],
|
||||||
|
"pose_w_deg": pose[3],
|
||||||
|
"pose_p_deg": pose[4],
|
||||||
|
"pose_r_deg": pose[5],
|
||||||
|
"j1_deg": joints[0],
|
||||||
|
"j2_deg": joints[1],
|
||||||
|
"j3_deg": joints[2],
|
||||||
|
"j4_deg": joints[3],
|
||||||
|
"j5_deg": joints[4],
|
||||||
|
"j6_deg": joints[5],
|
||||||
|
}
|
||||||
|
)
|
||||||
|
return records
|
||||||
|
|
||||||
|
|
||||||
|
def pick_trigger_first_high_frames(records: list[dict]) -> list[dict]:
|
||||||
|
"""由于 io_keep_cycles=2，只保留每组高电平脉冲的第一帧。"""
|
||||||
|
trigger_frames: list[dict] = []
|
||||||
|
previous_high = False
|
||||||
|
for record in records:
|
||||||
|
current_high = record["write_io_value"] > 0
|
||||||
|
if current_high and not previous_high:
|
||||||
|
trigger_frames.append(record)
|
||||||
|
previous_high = current_high
|
||||||
|
return trigger_frames
|
||||||
|
|
||||||
|
|
||||||
|
def load_uttc_ms11_config() -> dict:
|
||||||
|
"""读取 UTTC_MS11 的示教点和触发配置。"""
|
||||||
|
config = json.loads(CONFIG_PATH.read_text(encoding="utf-8"))
|
||||||
|
return config["flying_shots"]["UTTC_MS11"]
|
||||||
|
|
||||||
|
|
||||||
|
def build_diff_row(prefix: str, actual_deg: list[float], teach_deg: list[float], row: dict) -> tuple[float, float, str]:
|
||||||
|
"""向结果行写入逐轴误差，并返回聚合误差。"""
|
||||||
|
diffs = [actual_deg[index] - teach_deg[index] for index in range(6)]
|
||||||
|
abs_diffs = [abs(value) for value in diffs]
|
||||||
|
max_error = max(abs_diffs)
|
||||||
|
max_error_axis = f"J{abs_diffs.index(max_error) + 1}"
|
||||||
|
rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0)
|
||||||
|
|
||||||
|
for joint_index in range(6):
|
||||||
|
joint_no = joint_index + 1
|
||||||
|
row[f"{prefix}_j{joint_no}_actual_deg"] = actual_deg[joint_index]
|
||||||
|
row[f"{prefix}_diff_j{joint_no}_deg"] = diffs[joint_index]
|
||||||
|
|
||||||
|
row[f"{prefix}_max_error_axis"] = max_error_axis
|
||||||
|
row[f"{prefix}_max_error_deg"] = max_error
|
||||||
|
row[f"{prefix}_rms_error_deg"] = rms_error
|
||||||
|
return max_error, rms_error, max_error_axis
|
||||||
|
|
||||||
|
|
||||||
|
def build_trigger_status_rows(trigger_frames: list[dict], status_records: list[dict], shot_config: dict) -> list[dict]:
|
||||||
|
"""按触发顺序对齐命令帧、当前状态帧以及最接近示教点的反馈状态帧。"""
|
||||||
|
rows: list[dict] = []
|
||||||
|
trigger_waypoint_indices = [index for index, flag in enumerate(shot_config["shot_flags"]) if flag]
|
||||||
|
status_by_sequence = {record["sequence"]: record for record in status_records}
|
||||||
|
status_sequence_set = set(status_by_sequence)
|
||||||
|
|
||||||
|
for trigger_no, (trigger_frame, waypoint_index) in enumerate(zip(trigger_frames, trigger_waypoint_indices), start=1):
|
||||||
|
teach_deg = [math.degrees(value) for value in shot_config["traj_waypoints"][waypoint_index]]
|
||||||
|
current_status_sequence = trigger_frame["sequence"] - 8
|
||||||
|
current_status = status_by_sequence[current_status_sequence]
|
||||||
|
|
||||||
|
row = {
|
||||||
|
"trigger_no": trigger_no,
|
||||||
|
"waypoint_index": waypoint_index,
|
||||||
|
"trigger_frame_number": trigger_frame["frame_number"],
|
||||||
|
"trigger_time_relative_s": trigger_frame["time_relative_s"],
|
||||||
|
"trigger_sequence": trigger_frame["sequence"],
|
||||||
|
"paired_status_frame_number": current_status["frame_number"],
|
||||||
|
"paired_status_time_relative_s": current_status["time_relative_s"],
|
||||||
|
"paired_status_sequence": current_status["sequence"],
|
||||||
|
"paired_status_timestamp": current_status["timestamp"],
|
||||||
|
"paired_status_to_trigger_sequence_delta": current_status["sequence"] - trigger_frame["sequence"],
|
||||||
|
"paired_status_to_trigger_time_ms": (current_status["time_relative_s"] - trigger_frame["time_relative_s"]) * 1000.0,
|
||||||
|
}
|
||||||
|
|
||||||
|
for joint_index in range(6):
|
||||||
|
joint_no = joint_index + 1
|
||||||
|
row[f"teach_j{joint_no}_deg"] = teach_deg[joint_index]
|
||||||
|
|
||||||
|
build_diff_row(
|
||||||
|
"paired_status",
|
||||||
|
[current_status[f"j{joint_no}_deg"] for joint_no in range(1, 7)],
|
||||||
|
teach_deg,
|
||||||
|
row,
|
||||||
|
)
|
||||||
|
|
||||||
|
best_candidate = None
|
||||||
|
for delta_cycles in range(-SEARCH_WINDOW_CYCLES, SEARCH_WINDOW_CYCLES + 1):
|
||||||
|
candidate_sequence = current_status_sequence + delta_cycles
|
||||||
|
if candidate_sequence not in status_sequence_set:
|
||||||
|
continue
|
||||||
|
|
||||||
|
candidate = status_by_sequence[candidate_sequence]
|
||||||
|
diffs = [candidate[f"j{joint_no}_deg"] - teach_deg[joint_no - 1] for joint_no in range(1, 7)]
|
||||||
|
rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0)
|
||||||
|
max_error = max(abs(value) for value in diffs)
|
||||||
|
score = (rms_error, max_error, abs(delta_cycles))
|
||||||
|
if best_candidate is None or score < best_candidate["score"]:
|
||||||
|
best_candidate = {
|
||||||
|
"score": score,
|
||||||
|
"delta_cycles": delta_cycles,
|
||||||
|
"record": candidate,
|
||||||
|
}
|
||||||
|
|
||||||
|
if best_candidate is None:
|
||||||
|
raise RuntimeError(f"Trigger {trigger_no} 未找到候选状态帧。")
|
||||||
|
|
||||||
|
best_status = best_candidate["record"]
|
||||||
|
row["best_status_frame_number"] = best_status["frame_number"]
|
||||||
|
row["best_status_time_relative_s"] = best_status["time_relative_s"]
|
||||||
|
row["best_status_sequence"] = best_status["sequence"]
|
||||||
|
row["best_status_timestamp"] = best_status["timestamp"]
|
||||||
|
row["best_status_delta_from_paired_cycles"] = best_candidate["delta_cycles"]
|
||||||
|
row["best_status_delta_from_trigger_sequence"] = best_status["sequence"] - trigger_frame["sequence"]
|
||||||
|
row["best_status_time_after_trigger_ms"] = (best_status["time_relative_s"] - trigger_frame["time_relative_s"]) * 1000.0
|
||||||
|
|
||||||
|
build_diff_row(
|
||||||
|
"best_status",
|
||||||
|
[best_status[f"j{joint_no}_deg"] for joint_no in range(1, 7)],
|
||||||
|
teach_deg,
|
||||||
|
row,
|
||||||
|
)
|
||||||
|
|
||||||
|
rows.append(row)
|
||||||
|
|
||||||
|
return rows
|
||||||
|
|
||||||
|
|
||||||
|
def write_csv(path: Path, rows: list[dict]) -> None:
|
||||||
|
"""把分析结果落成 UTF-8 CSV。"""
|
||||||
|
if not rows:
|
||||||
|
raise ValueError(f"No rows to write: {path}")
|
||||||
|
|
||||||
|
path.parent.mkdir(parents=True, exist_ok=True)
|
||||||
|
with path.open("w", newline="", encoding="utf-8") as handle:
|
||||||
|
writer = csv.DictWriter(handle, fieldnames=list(rows[0].keys()))
|
||||||
|
writer.writeheader()
|
||||||
|
writer.writerows(rows)
|
||||||
|
|
||||||
|
|
||||||
|
def build_summary(command_records: list[dict], trigger_status_rows: list[dict]) -> dict:
|
||||||
|
"""汇总命令序列偏移和状态反馈误差分布。"""
|
||||||
|
sequence_offsets = [row["trigger_sequence"] - row["paired_status_sequence"] for row in trigger_status_rows]
|
||||||
|
best_paired_cycle_offsets = [row["best_status_delta_from_paired_cycles"] for row in trigger_status_rows]
|
||||||
|
best_trigger_sequence_offsets = [row["best_status_delta_from_trigger_sequence"] for row in trigger_status_rows]
|
||||||
|
best_time_offsets = [row["best_status_time_after_trigger_ms"] for row in trigger_status_rows]
|
||||||
|
paired_max_errors = [row["paired_status_max_error_deg"] for row in trigger_status_rows]
|
||||||
|
best_max_errors = [row["best_status_max_error_deg"] for row in trigger_status_rows]
|
||||||
|
paired_axes = Counter(row["paired_status_max_error_axis"] for row in trigger_status_rows)
|
||||||
|
best_axes = Counter(row["best_status_max_error_axis"] for row in trigger_status_rows)
|
||||||
|
|
||||||
|
sequence_offset_counter = Counter()
|
||||||
|
trigger_frames = pick_trigger_first_high_frames(command_records)
|
||||||
|
status_pairs = {row["trigger_frame_number"]: row for row in trigger_status_rows}
|
||||||
|
for trigger_frame in trigger_frames:
|
||||||
|
sequence_offset_counter[trigger_frame["sequence"] - status_pairs[trigger_frame["frame_number"]]["paired_status_sequence"]] += 1
|
||||||
|
|
||||||
|
return {
|
||||||
|
"pcap_path": str(DEFAULT_PCAP),
|
||||||
|
"command_count": len(command_records),
|
||||||
|
"trigger_count": len(trigger_status_rows),
|
||||||
|
"command_minus_paired_status_sequence_counter": dict(sequence_offset_counter),
|
||||||
|
"paired_status_average_max_error_deg": sum(paired_max_errors) / len(paired_max_errors),
|
||||||
|
"paired_status_max_error_deg": max(paired_max_errors),
|
||||||
|
"paired_status_max_error_axis_counter": dict(paired_axes),
|
||||||
|
"best_status_average_max_error_deg": sum(best_max_errors) / len(best_max_errors),
|
||||||
|
"best_status_max_error_deg": max(best_max_errors),
|
||||||
|
"best_status_max_error_axis_counter": dict(best_axes),
|
||||||
|
"best_status_delta_from_paired_cycles_counter": dict(Counter(best_paired_cycle_offsets)),
|
||||||
|
"best_status_delta_from_trigger_sequence_counter": dict(Counter(best_trigger_sequence_offsets)),
|
||||||
|
"best_status_time_after_trigger_ms_min": min(best_time_offsets),
|
||||||
|
"best_status_time_after_trigger_ms_max": max(best_time_offsets),
|
||||||
|
"best_status_time_after_trigger_ms_avg": sum(best_time_offsets) / len(best_time_offsets),
|
||||||
|
"search_window_cycles": SEARCH_WINDOW_CYCLES,
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def build_manual_compare_rows(trigger_status_rows: list[dict]) -> list[dict]:
|
||||||
|
"""整理成便于人工逐点核对的三时刻对照表。"""
|
||||||
|
rows: list[dict] = []
|
||||||
|
for row in trigger_status_rows:
|
||||||
|
rows.append(
|
||||||
|
{
|
||||||
|
"trigger_no": row["trigger_no"],
|
||||||
|
"waypoint_index": row["waypoint_index"],
|
||||||
|
"trigger_command_sequence": row["trigger_sequence"],
|
||||||
|
"trigger_command_frame": row["trigger_frame_number"],
|
||||||
|
"trigger_command_time_relative_s": row["trigger_time_relative_s"],
|
||||||
|
"trigger_current_status_sequence": row["paired_status_sequence"],
|
||||||
|
"trigger_current_status_frame": row["paired_status_frame_number"],
|
||||||
|
"trigger_current_status_time_relative_s": row["paired_status_time_relative_s"],
|
||||||
|
"command_leads_status_cycles": row["trigger_sequence"] - row["paired_status_sequence"],
|
||||||
|
"trigger_current_status_max_error_axis": row["paired_status_max_error_axis"],
|
||||||
|
"trigger_current_status_max_error_deg": row["paired_status_max_error_deg"],
|
||||||
|
"trigger_current_status_rms_error_deg": row["paired_status_rms_error_deg"],
|
||||||
|
"best_status_sequence": row["best_status_sequence"],
|
||||||
|
"best_status_frame": row["best_status_frame_number"],
|
||||||
|
"best_status_time_relative_s": row["best_status_time_relative_s"],
|
||||||
|
"best_status_delay_from_current_status_cycles": row["best_status_delta_from_paired_cycles"],
|
||||||
|
"best_status_delay_from_trigger_command_cycles": row["best_status_delta_from_trigger_sequence"],
|
||||||
|
"best_status_delay_from_trigger_command_ms": row["best_status_time_after_trigger_ms"],
|
||||||
|
"best_status_max_error_axis": row["best_status_max_error_axis"],
|
||||||
|
"best_status_max_error_deg": row["best_status_max_error_deg"],
|
||||||
|
"best_status_rms_error_deg": row["best_status_rms_error_deg"],
|
||||||
|
}
|
||||||
|
)
|
||||||
|
return rows
|
||||||
|
|
||||||
|
|
||||||
|
def main() -> None:
|
||||||
|
"""执行状态反馈提取、触发对齐和摘要落盘。"""
|
||||||
|
OUTPUT_DIR.mkdir(parents=True, exist_ok=True)
|
||||||
|
|
||||||
|
rows = load_udp_rows(DEFAULT_PCAP, DEFAULT_TSHARK)
|
||||||
|
command_records = decode_command_records(rows, client_ip="192.168.10.10", robot_ip="192.168.10.11")
|
||||||
|
status_records = decode_status_records(rows, client_ip="192.168.10.10", robot_ip="192.168.10.11")
|
||||||
|
trigger_frames = pick_trigger_first_high_frames(command_records)
|
||||||
|
shot_config = load_uttc_ms11_config()
|
||||||
|
trigger_status_rows = build_trigger_status_rows(trigger_frames, status_records, shot_config)
|
||||||
|
manual_compare_rows = build_manual_compare_rows(trigger_status_rows)
|
||||||
|
summary = build_summary(command_records, trigger_status_rows)
|
||||||
|
|
||||||
|
write_csv(OUTPUT_DIR / "2026042802-1_j519_status_feedback_all.csv", status_records)
|
||||||
|
write_csv(OUTPUT_DIR / "2026042802-1_trigger_status_feedback_vs_teach_points.csv", trigger_status_rows)
|
||||||
|
write_csv(OUTPUT_DIR / "2026042802-1_trigger_manual_compare.csv", manual_compare_rows)
|
||||||
|
(OUTPUT_DIR / "2026042802-1_status_feedback_summary.json").write_text(
|
||||||
|
json.dumps(summary, ensure_ascii=False, indent=2),
|
||||||
|
encoding="utf-8",
|
||||||
|
)
|
||||||
|
|
||||||
|
print(json.dumps(summary, ensure_ascii=False, indent=2))
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
250
analysis/analyze_2026042802_1_trigger_vs_teach_points.py
Normal file
250
analysis/analyze_2026042802_1_trigger_vs_teach_points.py
Normal file
@@ -0,0 +1,250 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""提取 2026042802-1 抓包中的真实 J519 发包，并对比 UTTC_MS11 示教点。"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import csv
|
||||||
|
import json
|
||||||
|
import math
|
||||||
|
import struct
|
||||||
|
import subprocess
|
||||||
|
from collections import Counter
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
|
||||||
|
REPO_ROOT = Path(__file__).resolve().parents[1]
|
||||||
|
DEFAULT_PCAP = REPO_ROOT.parent / "Rvbust" / "uttc-20260428" / "2026042802-1.pcap"
|
||||||
|
DEFAULT_TSHARK = Path(r"D:\Zyx\Downloads\WiresharkPortable32\App\Wireshark\tshark.exe")
|
||||||
|
OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1"
|
||||||
|
CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json"
|
||||||
|
RUNTIME_DATA_DIR = REPO_ROOT / "Config" / "Data" / "UTTC_MS11"
|
||||||
|
|
||||||
|
|
||||||
|
def be_u32(data: bytes, offset: int) -> int:
|
||||||
|
"""按大端读取 4 字节无符号整数。"""
|
||||||
|
return struct.unpack(">I", data[offset : offset + 4])[0]
|
||||||
|
|
||||||
|
|
||||||
|
def be_u16(data: bytes, offset: int) -> int:
|
||||||
|
"""按大端读取 2 字节无符号整数。"""
|
||||||
|
return struct.unpack(">H", data[offset : offset + 2])[0]
|
||||||
|
|
||||||
|
|
||||||
|
def be_f32(data: bytes, offset: int) -> float:
|
||||||
|
"""按大端读取 4 字节浮点数。"""
|
||||||
|
return struct.unpack(">f", data[offset : offset + 4])[0]
|
||||||
|
|
||||||
|
|
||||||
|
def load_j519_command_rows(pcap: Path, tshark: Path) -> list[list[str]]:
|
||||||
|
"""只提取 UDP 60015 的原始字段，后续再按 IP 方向筛选真实下发命令。"""
|
||||||
|
command = [
|
||||||
|
str(tshark),
|
||||||
|
"-r",
|
||||||
|
str(pcap),
|
||||||
|
"-Y",
|
||||||
|
"udp.port==60015",
|
||||||
|
"-T",
|
||||||
|
"fields",
|
||||||
|
"-e",
|
||||||
|
"frame.number",
|
||||||
|
"-e",
|
||||||
|
"frame.time_relative",
|
||||||
|
"-e",
|
||||||
|
"ip.src",
|
||||||
|
"-e",
|
||||||
|
"udp.srcport",
|
||||||
|
"-e",
|
||||||
|
"ip.dst",
|
||||||
|
"-e",
|
||||||
|
"udp.dstport",
|
||||||
|
"-e",
|
||||||
|
"udp.payload",
|
||||||
|
]
|
||||||
|
output = subprocess.check_output(command, text=True, encoding="utf-8", errors="ignore")
|
||||||
|
rows: list[list[str]] = []
|
||||||
|
for line in output.splitlines():
|
||||||
|
if not line.strip():
|
||||||
|
continue
|
||||||
|
parts = line.split("\t")
|
||||||
|
if len(parts) >= 7:
|
||||||
|
rows.append(parts[:7])
|
||||||
|
return rows
|
||||||
|
|
||||||
|
|
||||||
|
def decode_command_records(rows: list[list[str]], client_ip: str, robot_ip: str) -> list[dict]:
|
||||||
|
"""把抓包中的 64B J519 命令帧解码成带 IO 信息的结构化记录。"""
|
||||||
|
records: list[dict] = []
|
||||||
|
for frame_no, time_rel, ip_src, _udp_src, ip_dst, _udp_dst, payload_hex in rows:
|
||||||
|
if ip_src != client_ip or ip_dst != robot_ip:
|
||||||
|
continue
|
||||||
|
|
||||||
|
payload = bytes.fromhex(payload_hex)
|
||||||
|
if len(payload) != 64:
|
||||||
|
continue
|
||||||
|
|
||||||
|
io_value = be_u16(payload, 0x18)
|
||||||
|
io_addrs = [bit + 1 for bit in range(16) if io_value & (1 << bit)]
|
||||||
|
targets = [be_f32(payload, 0x1C + index * 4) for index in range(9)]
|
||||||
|
records.append(
|
||||||
|
{
|
||||||
|
"frame_number": int(frame_no),
|
||||||
|
"time_relative_s": float(time_rel),
|
||||||
|
"sequence": be_u32(payload, 0x08),
|
||||||
|
"last_data": payload[0x0C],
|
||||||
|
"write_io_type": payload[0x13],
|
||||||
|
"write_io_index": be_u16(payload, 0x14),
|
||||||
|
"write_io_mask": be_u16(payload, 0x16),
|
||||||
|
"write_io_value": io_value,
|
||||||
|
"io_addrs": io_addrs,
|
||||||
|
"j1_deg": targets[0],
|
||||||
|
"j2_deg": targets[1],
|
||||||
|
"j3_deg": targets[2],
|
||||||
|
"j4_deg": targets[3],
|
||||||
|
"j5_deg": targets[4],
|
||||||
|
"j6_deg": targets[5],
|
||||||
|
"ext1_deg": targets[6],
|
||||||
|
"ext2_deg": targets[7],
|
||||||
|
"ext3_deg": targets[8],
|
||||||
|
}
|
||||||
|
)
|
||||||
|
return records
|
||||||
|
|
||||||
|
|
||||||
|
def pick_trigger_first_high_frames(records: list[dict]) -> list[dict]:
|
||||||
|
"""由于 io_keep_cycles=2，只记录每组高电平脉冲的第一帧。"""
|
||||||
|
trigger_frames: list[dict] = []
|
||||||
|
previous_high = False
|
||||||
|
for record in records:
|
||||||
|
current_high = record["write_io_value"] > 0
|
||||||
|
if current_high and not previous_high:
|
||||||
|
trigger_frames.append(record)
|
||||||
|
previous_high = current_high
|
||||||
|
return trigger_frames
|
||||||
|
|
||||||
|
|
||||||
|
def load_uttc_ms11_config() -> dict:
|
||||||
|
"""读取 UTTC_MS11 的示教点和触发配置。"""
|
||||||
|
config = json.loads(CONFIG_PATH.read_text(encoding="utf-8"))
|
||||||
|
return config["flying_shots"]["UTTC_MS11"]
|
||||||
|
|
||||||
|
|
||||||
|
def build_trigger_vs_teach_rows(trigger_frames: list[dict], shot_config: dict) -> list[dict]:
|
||||||
|
"""按 shot_flags 为 true 的 waypoint 顺序，对齐抓包触发帧和示教点。"""
|
||||||
|
rows: list[dict] = []
|
||||||
|
trigger_waypoint_indices = [index for index, flag in enumerate(shot_config["shot_flags"]) if flag]
|
||||||
|
|
||||||
|
for trigger_no, (frame, waypoint_index) in enumerate(zip(trigger_frames, trigger_waypoint_indices), start=1):
|
||||||
|
teach_rad = shot_config["traj_waypoints"][waypoint_index]
|
||||||
|
teach_deg = [math.degrees(value) for value in teach_rad]
|
||||||
|
actual_deg = [frame[f"j{joint_index}_deg"] for joint_index in range(1, 7)]
|
||||||
|
diffs = [actual_deg[index] - teach_deg[index] for index in range(6)]
|
||||||
|
abs_diffs = [abs(value) for value in diffs]
|
||||||
|
max_error = max(abs_diffs)
|
||||||
|
max_error_axis = f"J{abs_diffs.index(max_error) + 1}"
|
||||||
|
rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0)
|
||||||
|
|
||||||
|
row = {
|
||||||
|
"trigger_no": trigger_no,
|
||||||
|
"waypoint_index": waypoint_index,
|
||||||
|
"frame_number": frame["frame_number"],
|
||||||
|
"sequence": frame["sequence"],
|
||||||
|
"time_relative_s": frame["time_relative_s"],
|
||||||
|
"write_io_value": frame["write_io_value"],
|
||||||
|
"io_addrs": frame["io_addrs"],
|
||||||
|
"config_addr": shot_config["addr"][waypoint_index],
|
||||||
|
"max_error_axis": max_error_axis,
|
||||||
|
"max_error_deg": max_error,
|
||||||
|
"rms_error_deg": rms_error,
|
||||||
|
}
|
||||||
|
|
||||||
|
for joint_index in range(6):
|
||||||
|
joint_no = joint_index + 1
|
||||||
|
row[f"j{joint_no}_actual_deg"] = actual_deg[joint_index]
|
||||||
|
row[f"j{joint_no}_teach_deg"] = teach_deg[joint_index]
|
||||||
|
row[f"diff_j{joint_no}_deg"] = diffs[joint_index]
|
||||||
|
|
||||||
|
rows.append(row)
|
||||||
|
|
||||||
|
return rows
|
||||||
|
|
||||||
|
|
||||||
|
def write_csv(path: Path, rows: list[dict]) -> None:
|
||||||
|
"""把分析结果落成 UTF-8 CSV，便于后续继续筛选和画图。"""
|
||||||
|
if not rows:
|
||||||
|
raise ValueError(f"No rows to write: {path}")
|
||||||
|
|
||||||
|
serializable_rows: list[dict] = []
|
||||||
|
for row in rows:
|
||||||
|
serializable_row: dict = {}
|
||||||
|
for key, value in row.items():
|
||||||
|
if isinstance(value, list):
|
||||||
|
serializable_row[key] = json.dumps(value, ensure_ascii=False)
|
||||||
|
else:
|
||||||
|
serializable_row[key] = value
|
||||||
|
serializable_rows.append(serializable_row)
|
||||||
|
|
||||||
|
path.parent.mkdir(parents=True, exist_ok=True)
|
||||||
|
with path.open("w", newline="", encoding="utf-8") as handle:
|
||||||
|
writer = csv.DictWriter(handle, fieldnames=list(serializable_rows[0].keys()))
|
||||||
|
writer.writeheader()
|
||||||
|
writer.writerows(serializable_rows)
|
||||||
|
|
||||||
|
|
||||||
|
def build_summary(records: list[dict], trigger_rows: list[dict]) -> dict:
|
||||||
|
"""汇总本次分析关心的导出状态和误差统计。"""
|
||||||
|
max_errors = [float(row["max_error_deg"]) for row in trigger_rows]
|
||||||
|
rms_errors = [float(row["rms_error_deg"]) for row in trigger_rows]
|
||||||
|
axis_counter = Counter(str(row["max_error_axis"]) for row in trigger_rows)
|
||||||
|
|
||||||
|
order_only_addr_mismatch = 0
|
||||||
|
real_addr_mismatch = 0
|
||||||
|
for row in trigger_rows:
|
||||||
|
io_addrs = list(row["io_addrs"])
|
||||||
|
config_addr = list(row["config_addr"])
|
||||||
|
if io_addrs != config_addr:
|
||||||
|
if sorted(io_addrs) == sorted(config_addr):
|
||||||
|
order_only_addr_mismatch += 1
|
||||||
|
else:
|
||||||
|
real_addr_mismatch += 1
|
||||||
|
|
||||||
|
return {
|
||||||
|
"pcap_path": str(DEFAULT_PCAP),
|
||||||
|
"all_command_count": len(records),
|
||||||
|
"trigger_count": len(trigger_rows),
|
||||||
|
"existing_runtime_actual_send_exists": (RUNTIME_DATA_DIR / "ActualSendJointTraj.txt").exists(),
|
||||||
|
"existing_runtime_actual_send_has_io_columns": False,
|
||||||
|
"existing_shot_events_exists": (RUNTIME_DATA_DIR / "ShotEvents.json").exists(),
|
||||||
|
"pcap_specific_combined_export_preexisting": False,
|
||||||
|
"average_max_error_deg": sum(max_errors) / len(max_errors),
|
||||||
|
"max_error_deg": max(max_errors),
|
||||||
|
"average_rms_error_deg": sum(rms_errors) / len(rms_errors),
|
||||||
|
"max_error_axis_counter": dict(axis_counter),
|
||||||
|
"order_only_addr_mismatch_count": order_only_addr_mismatch,
|
||||||
|
"real_addr_mismatch_count": real_addr_mismatch,
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def main() -> None:
|
||||||
|
"""执行抓包提取、示教点对齐、CSV 导出和摘要落盘。"""
|
||||||
|
OUTPUT_DIR.mkdir(parents=True, exist_ok=True)
|
||||||
|
|
||||||
|
rows = load_j519_command_rows(DEFAULT_PCAP, DEFAULT_TSHARK)
|
||||||
|
records = decode_command_records(rows, client_ip="192.168.10.10", robot_ip="192.168.10.11")
|
||||||
|
trigger_frames = pick_trigger_first_high_frames(records)
|
||||||
|
shot_config = load_uttc_ms11_config()
|
||||||
|
trigger_rows = build_trigger_vs_teach_rows(trigger_frames, shot_config)
|
||||||
|
summary = build_summary(records, trigger_rows)
|
||||||
|
|
||||||
|
write_csv(OUTPUT_DIR / "2026042802-1_j519_actual_send_all_with_io.csv", records)
|
||||||
|
write_csv(OUTPUT_DIR / "2026042802-1_j519_trigger_frames.csv", trigger_frames)
|
||||||
|
write_csv(OUTPUT_DIR / "2026042802-1_trigger_vs_teach_points.csv", trigger_rows)
|
||||||
|
(OUTPUT_DIR / "2026042802-1_analysis_summary.json").write_text(
|
||||||
|
json.dumps(summary, ensure_ascii=False, indent=2),
|
||||||
|
encoding="utf-8",
|
||||||
|
)
|
||||||
|
|
||||||
|
print(json.dumps(summary, ensure_ascii=False, indent=2))
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
137
analysis/build_trigger_offset_compare_6_7_8.py
Normal file
137
analysis/build_trigger_offset_compare_6_7_8.py
Normal file
@@ -0,0 +1,137 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""生成 2026042802-1 抓包中触发偏移 6/7/8 周期的对照表。"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import csv
|
||||||
|
import json
|
||||||
|
import math
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
|
||||||
|
REPO_ROOT = Path(__file__).resolve().parents[1]
|
||||||
|
OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1"
|
||||||
|
CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json"
|
||||||
|
ACTUAL_SEND_CSV = OUTPUT_DIR / "2026042802-1_j519_actual_send_all_with_io.csv"
|
||||||
|
TRIGGER_CSV = OUTPUT_DIR / "2026042802-1_j519_trigger_frames.csv"
|
||||||
|
OUTPUT_CSV = OUTPUT_DIR / "2026042802-1_trigger_offset_6_7_8_compare.csv"
|
||||||
|
OUTPUT_JSON = OUTPUT_DIR / "2026042802-1_trigger_offset_6_7_8_summary.json"
|
||||||
|
|
||||||
|
|
||||||
|
def load_rows(path: Path) -> list[dict]:
|
||||||
|
with path.open(encoding="utf-8") as handle:
|
||||||
|
return list(csv.DictReader(handle))
|
||||||
|
|
||||||
|
|
||||||
|
def to_float_list(record: dict, prefix: str = "j") -> list[float]:
|
||||||
|
return [float(record[f"{prefix}{index}_deg"]) for index in range(1, 7)]
|
||||||
|
|
||||||
|
|
||||||
|
def compute_diff_metrics(actual_deg: list[float], teach_deg: list[float]) -> tuple[list[float], float, float, str]:
|
||||||
|
diffs = [actual_deg[index] - teach_deg[index] for index in range(6)]
|
||||||
|
abs_diffs = [abs(value) for value in diffs]
|
||||||
|
max_error = max(abs_diffs)
|
||||||
|
rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0)
|
||||||
|
max_axis = f"J{abs_diffs.index(max_error) + 1}"
|
||||||
|
return diffs, max_error, rms_error, max_axis
|
||||||
|
|
||||||
|
|
||||||
|
def main() -> None:
|
||||||
|
actual_rows = load_rows(ACTUAL_SEND_CSV)
|
||||||
|
trigger_rows = load_rows(TRIGGER_CSV)
|
||||||
|
config = json.loads(CONFIG_PATH.read_text(encoding="utf-8"))["flying_shots"]["UTTC_MS11"]
|
||||||
|
trigger_waypoint_indices = [index for index, flag in enumerate(config["shot_flags"]) if flag]
|
||||||
|
|
||||||
|
actual_index_by_frame = {int(row["frame_number"]): row for row in actual_rows}
|
||||||
|
actual_order_by_frame = {int(row["frame_number"]): idx for idx, row in enumerate(actual_rows)}
|
||||||
|
|
||||||
|
output_rows: list[dict] = []
|
||||||
|
offset_win_counts = {6: 0, 7: 0, 8: 0}
|
||||||
|
|
||||||
|
for trigger_no, (trigger_row, waypoint_index) in enumerate(zip(trigger_rows, trigger_waypoint_indices), start=1):
|
||||||
|
trigger_frame = int(trigger_row["frame_number"])
|
||||||
|
trigger_order = actual_order_by_frame[trigger_frame]
|
||||||
|
teach_deg = [math.degrees(value) for value in config["traj_waypoints"][waypoint_index]]
|
||||||
|
|
||||||
|
window_start = max(0, trigger_order - 20)
|
||||||
|
window_end = min(len(actual_rows) - 1, trigger_order + 20)
|
||||||
|
best_order = trigger_order
|
||||||
|
best_rms = float("inf")
|
||||||
|
best_max = float("inf")
|
||||||
|
|
||||||
|
for candidate_order in range(window_start, window_end + 1):
|
||||||
|
candidate = actual_rows[candidate_order]
|
||||||
|
_, max_error, rms_error, _ = compute_diff_metrics(to_float_list(candidate), teach_deg)
|
||||||
|
score = (rms_error, max_error, abs(candidate_order - trigger_order))
|
||||||
|
if (best_rms, best_max, abs(best_order - trigger_order)) > score:
|
||||||
|
best_order = candidate_order
|
||||||
|
best_rms = rms_error
|
||||||
|
best_max = max_error
|
||||||
|
|
||||||
|
row = {
|
||||||
|
"trigger_no": trigger_no,
|
||||||
|
"waypoint_index": waypoint_index,
|
||||||
|
"best_sample_order": best_order,
|
||||||
|
"best_frame_number": int(actual_rows[best_order]["frame_number"]),
|
||||||
|
"best_sequence": int(actual_rows[best_order]["sequence"]),
|
||||||
|
"best_time_relative_s": float(actual_rows[best_order]["time_relative_s"]),
|
||||||
|
}
|
||||||
|
|
||||||
|
for joint_index in range(6):
|
||||||
|
row[f"teach_j{joint_index + 1}_deg"] = teach_deg[joint_index]
|
||||||
|
|
||||||
|
for offset in (6, 7, 8):
|
||||||
|
target_order = min(len(actual_rows) - 1, best_order + offset)
|
||||||
|
target = actual_rows[target_order]
|
||||||
|
actual_deg = to_float_list(target)
|
||||||
|
diffs, max_error, rms_error, max_axis = compute_diff_metrics(actual_deg, teach_deg)
|
||||||
|
|
||||||
|
row[f"offset_{offset}_frame_number"] = int(target["frame_number"])
|
||||||
|
row[f"offset_{offset}_sequence"] = int(target["sequence"])
|
||||||
|
row[f"offset_{offset}_time_relative_s"] = float(target["time_relative_s"])
|
||||||
|
row[f"offset_{offset}_max_error_axis"] = max_axis
|
||||||
|
row[f"offset_{offset}_max_error_deg"] = max_error
|
||||||
|
row[f"offset_{offset}_rms_error_deg"] = rms_error
|
||||||
|
row[f"offset_{offset}_delta_from_best_ms"] = (
|
||||||
|
float(target["time_relative_s"]) - float(actual_rows[best_order]["time_relative_s"])
|
||||||
|
) * 1000.0
|
||||||
|
for joint_index in range(6):
|
||||||
|
joint_no = joint_index + 1
|
||||||
|
row[f"offset_{offset}_j{joint_no}_actual_deg"] = actual_deg[joint_index]
|
||||||
|
row[f"offset_{offset}_diff_j{joint_no}_deg"] = diffs[joint_index]
|
||||||
|
|
||||||
|
best_offset = min(
|
||||||
|
(6, 7, 8),
|
||||||
|
key=lambda offset: (
|
||||||
|
row[f"offset_{offset}_rms_error_deg"],
|
||||||
|
row[f"offset_{offset}_max_error_deg"],
|
||||||
|
),
|
||||||
|
)
|
||||||
|
row["best_of_6_7_8_offset"] = best_offset
|
||||||
|
offset_win_counts[best_offset] += 1
|
||||||
|
output_rows.append(row)
|
||||||
|
|
||||||
|
OUTPUT_DIR.mkdir(parents=True, exist_ok=True)
|
||||||
|
with OUTPUT_CSV.open("w", newline="", encoding="utf-8") as handle:
|
||||||
|
writer = csv.DictWriter(handle, fieldnames=list(output_rows[0].keys()))
|
||||||
|
writer.writeheader()
|
||||||
|
writer.writerows(output_rows)
|
||||||
|
|
||||||
|
summary = {
|
||||||
|
"rows": len(output_rows),
|
||||||
|
"best_offset_win_counts": offset_win_counts,
|
||||||
|
"average_max_error_deg": {
|
||||||
|
str(offset): sum(row[f"offset_{offset}_max_error_deg"] for row in output_rows) / len(output_rows)
|
||||||
|
for offset in (6, 7, 8)
|
||||||
|
},
|
||||||
|
"average_rms_error_deg": {
|
||||||
|
str(offset): sum(row[f"offset_{offset}_rms_error_deg"] for row in output_rows) / len(output_rows)
|
||||||
|
for offset in (6, 7, 8)
|
||||||
|
},
|
||||||
|
}
|
||||||
|
OUTPUT_JSON.write_text(json.dumps(summary, ensure_ascii=False, indent=2), encoding="utf-8")
|
||||||
|
print(json.dumps(summary, ensure_ascii=False, indent=2))
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
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)
|
||||||
200
analysis/read_fanuc_allowable_limits.py
Normal file
200
analysis/read_fanuc_allowable_limits.py
Normal file
@@ -0,0 +1,200 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""读取 FANUC J519 允许速度/加速度/jerk 上限表。
|
||||||
|
|
||||||
|
本脚本只做 UDP packet type=3 查询，不启动运行时服务，也不写入机器人参数。
|
||||||
|
响应中的 limit 值保留为控制器原始单位：速度 deg/s、加速度 deg/s^2、jerk deg/s^3。
|
||||||
|
"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import argparse
|
||||||
|
import csv
|
||||||
|
import socket
|
||||||
|
import struct
|
||||||
|
import sys
|
||||||
|
from dataclasses import dataclass
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
|
||||||
|
LIMIT_TYPES = {
|
||||||
|
0: ("velocity", "deg/s"),
|
||||||
|
1: ("acceleration", "deg/s^2"),
|
||||||
|
2: ("jerk", "deg/s^3"),
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass(frozen=True)
|
||||||
|
class LimitTable:
|
||||||
|
"""保存单个轴、单种限制类型的 20 档 no-payload / max-payload 上限表。"""
|
||||||
|
|
||||||
|
axis: int
|
||||||
|
limit_type: int
|
||||||
|
vmax_mm_s: int
|
||||||
|
intermediate_check_s: int
|
||||||
|
no_payload: tuple[float, ...]
|
||||||
|
max_payload: tuple[float, ...]
|
||||||
|
|
||||||
|
|
||||||
|
def pack_request(axis: int, limit_type: int) -> bytes:
|
||||||
|
"""按手册 Table 5 封装允许上限表查询请求。"""
|
||||||
|
|
||||||
|
return struct.pack(">IIII", 3, 1, axis, limit_type)
|
||||||
|
|
||||||
|
|
||||||
|
def parse_response(packet: bytes, expected_axis: int, expected_type: int) -> LimitTable:
|
||||||
|
"""按手册 Table 6 解析允许上限表响应。"""
|
||||||
|
|
||||||
|
if len(packet) != 184:
|
||||||
|
raise ValueError(f"响应长度应为 184 字节，实际为 {len(packet)} 字节。")
|
||||||
|
|
||||||
|
packet_type, version, axis, limit_type, vmax, check_time = struct.unpack_from(">IIIIII", packet, 0)
|
||||||
|
if packet_type != 3 or version != 1:
|
||||||
|
raise ValueError(f"响应头不正确：packet_type={packet_type}, version={version}。")
|
||||||
|
if axis != expected_axis or limit_type != expected_type:
|
||||||
|
raise ValueError(
|
||||||
|
f"响应与请求不匹配：期望 axis={expected_axis}, type={expected_type}，"
|
||||||
|
f"实际 axis={axis}, type={limit_type}。"
|
||||||
|
)
|
||||||
|
|
||||||
|
values = struct.unpack_from(">40f", packet, 24)
|
||||||
|
return LimitTable(
|
||||||
|
axis=axis,
|
||||||
|
limit_type=limit_type,
|
||||||
|
vmax_mm_s=vmax,
|
||||||
|
intermediate_check_s=check_time,
|
||||||
|
no_payload=tuple(values[:20]),
|
||||||
|
max_payload=tuple(values[20:]),
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def query_table(sock: socket.socket, robot_ip: str, port: int, axis: int, limit_type: int) -> LimitTable:
|
||||||
|
"""发送单个查询请求并等待对应响应。"""
|
||||||
|
|
||||||
|
sock.sendto(pack_request(axis, limit_type), (robot_ip, port))
|
||||||
|
packet, address = sock.recvfrom(2048)
|
||||||
|
if address[0] != robot_ip:
|
||||||
|
raise ValueError(f"收到非目标机器人响应：{address[0]}:{address[1]}。")
|
||||||
|
return parse_response(packet, axis, limit_type)
|
||||||
|
|
||||||
|
|
||||||
|
def iter_requested_tables(
|
||||||
|
robot_ip: str,
|
||||||
|
port: int,
|
||||||
|
timeout_s: float,
|
||||||
|
axes: range,
|
||||||
|
limit_types: tuple[int, ...],
|
||||||
|
) -> list[LimitTable]:
|
||||||
|
"""按轴和限制类型顺序读取所有上限表。"""
|
||||||
|
|
||||||
|
tables: list[LimitTable] = []
|
||||||
|
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
|
||||||
|
sock.settimeout(timeout_s)
|
||||||
|
for axis in axes:
|
||||||
|
for limit_type in limit_types:
|
||||||
|
tables.append(query_table(sock, robot_ip, port, axis, limit_type))
|
||||||
|
return tables
|
||||||
|
|
||||||
|
|
||||||
|
def write_csv(path: Path, tables: list[LimitTable]) -> None:
|
||||||
|
"""把 20 档速度区间和两套 payload 表写成扁平 CSV。"""
|
||||||
|
|
||||||
|
with path.open("w", newline="", encoding="utf-8") as file:
|
||||||
|
writer = csv.writer(file)
|
||||||
|
writer.writerow(
|
||||||
|
[
|
||||||
|
"axis",
|
||||||
|
"limit_type",
|
||||||
|
"unit",
|
||||||
|
"vmax_mm_s",
|
||||||
|
"intermediate_check_s",
|
||||||
|
"speed_bin_index",
|
||||||
|
"speed_bin_upper_mm_s",
|
||||||
|
"no_payload_limit",
|
||||||
|
"max_payload_limit",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
for table in tables:
|
||||||
|
limit_name, unit = LIMIT_TYPES[table.limit_type]
|
||||||
|
for index, (no_payload, max_payload) in enumerate(zip(table.no_payload, table.max_payload), start=1):
|
||||||
|
writer.writerow(
|
||||||
|
[
|
||||||
|
table.axis,
|
||||||
|
limit_name,
|
||||||
|
unit,
|
||||||
|
table.vmax_mm_s,
|
||||||
|
table.intermediate_check_s,
|
||||||
|
index,
|
||||||
|
table.vmax_mm_s * index / 20.0,
|
||||||
|
f"{no_payload:.9g}",
|
||||||
|
f"{max_payload:.9g}",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def print_summary(tables: list[LimitTable]) -> None:
|
||||||
|
"""打印每张表的首末档，便于现场快速确认返回值是否正常。"""
|
||||||
|
|
||||||
|
for table in tables:
|
||||||
|
limit_name, unit = LIMIT_TYPES[table.limit_type]
|
||||||
|
print(
|
||||||
|
f"axis={table.axis} type={limit_name:<12} unit={unit:<8} "
|
||||||
|
f"vmax={table.vmax_mm_s}mm/s check={table.intermediate_check_s}s "
|
||||||
|
f"no_payload[1]={table.no_payload[0]:.6g} no_payload[20]={table.no_payload[-1]:.6g} "
|
||||||
|
f"max_payload[1]={table.max_payload[0]:.6g} max_payload[20]={table.max_payload[-1]:.6g}"
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def parse_args() -> argparse.Namespace:
|
||||||
|
"""解析命令行参数。"""
|
||||||
|
|
||||||
|
parser = argparse.ArgumentParser(
|
||||||
|
description="Read FANUC J519 packet type=3 allowable upper limit tables.",
|
||||||
|
)
|
||||||
|
parser.add_argument("robot_ip", help="机器人控制柜 IP，例如 192.168.10.11。")
|
||||||
|
parser.add_argument("--port", type=int, default=60015, help="J519 UDP 端口，默认 60015。")
|
||||||
|
parser.add_argument("--timeout", type=float, default=2.0, help="单次响应超时秒数，默认 2.0。")
|
||||||
|
parser.add_argument("--axis-start", type=int, default=1, help="起始轴号，默认 1。")
|
||||||
|
parser.add_argument("--axis-end", type=int, default=9, help="结束轴号，默认 9。")
|
||||||
|
parser.add_argument(
|
||||||
|
"--types",
|
||||||
|
default="0,1,2",
|
||||||
|
help="限制类型列表：0=velocity, 1=acceleration, 2=jerk；默认 0,1,2。",
|
||||||
|
)
|
||||||
|
parser.add_argument(
|
||||||
|
"--csv",
|
||||||
|
type=Path,
|
||||||
|
default=Path("analysis/fanuc_allowable_limit_tables.csv"),
|
||||||
|
help="CSV 输出路径。",
|
||||||
|
)
|
||||||
|
return parser.parse_args()
|
||||||
|
|
||||||
|
|
||||||
|
def main() -> int:
|
||||||
|
"""脚本入口。"""
|
||||||
|
|
||||||
|
args = parse_args()
|
||||||
|
limit_types = tuple(int(item.strip()) for item in args.types.split(",") if item.strip())
|
||||||
|
unknown_types = [item for item in limit_types if item not in LIMIT_TYPES]
|
||||||
|
if unknown_types:
|
||||||
|
print(f"未知限制类型：{unknown_types}", file=sys.stderr)
|
||||||
|
return 2
|
||||||
|
if not 1 <= args.axis_start <= args.axis_end <= 9:
|
||||||
|
print("轴范围必须满足 1 <= axis-start <= axis-end <= 9。", file=sys.stderr)
|
||||||
|
return 2
|
||||||
|
|
||||||
|
tables = iter_requested_tables(
|
||||||
|
args.robot_ip,
|
||||||
|
args.port,
|
||||||
|
args.timeout,
|
||||||
|
range(args.axis_start, args.axis_end + 1),
|
||||||
|
limit_types,
|
||||||
|
)
|
||||||
|
args.csv.parent.mkdir(parents=True, exist_ok=True)
|
||||||
|
write_csv(args.csv, tables)
|
||||||
|
print_summary(tables)
|
||||||
|
print(f"\nCSV 已写入：{args.csv}")
|
||||||
|
return 0
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
raise SystemExit(main())
|
||||||
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
|
||||||
|
BIN
docs/0.7x.pcap
Normal file
BIN
docs/0.7x.pcap
Normal file
Binary file not shown.
526
docs/2026042802-1-trigger-vs-teach-point-analysis.md
Normal file
526
docs/2026042802-1-trigger-vs-teach-point-analysis.md
Normal file
@@ -0,0 +1,526 @@
|
|||||||
|
# 2026042802-1 抓包触发点与示教点对比记录
|
||||||
|
|
||||||
|
## 1. 目的
|
||||||
|
|
||||||
|
- 使用 `../Rvbust/uttc-20260428/2026042802-1.pcap` 确认当前仓库是否已经导出过这份抓包对应的真实运动轨迹发包记录。
|
||||||
|
- 如果现有导出不包含 IO 触发信息，则补一份“真实 J519 发包 + IO 标记”导出。
|
||||||
|
- 将抓包里真实触发 IO 的关节坐标，与 `Config/RobotConfig.json` 中 `flying_shots.UTTC_MS11` 的示教点逐点对比。
|
||||||
|
- 把结论固定成仓库文档，后续继续和新程序抓包、`ShotEvents.json`、运行时导出结果做同口径比较。
|
||||||
|
|
||||||
|
## 2. 数据来源与口径
|
||||||
|
|
||||||
|
- 抓包文件：`../Rvbust/uttc-20260428/2026042802-1.pcap`
|
||||||
|
- 旧目录配置文件：`../Rvbust/uttc-20260428/RobotConfig.json`
|
||||||
|
- 新版程序运行时配置文件：`Config/RobotConfig.json`
|
||||||
|
- 对比对象：两份配置中的 `flying_shots.UTTC_MS11`
|
||||||
|
- 协议口径：只看 `192.168.10.10 -> 192.168.10.11` 的 `UDP 60015` 64B J519 命令帧
|
||||||
|
- 触发判定：`write_io_value > 0` 视为 IO 置位
|
||||||
|
- 去重规则：由于 `io_keep_cycles=2`，每次触发只记录首个高电平帧
|
||||||
|
- 关节单位：抓包 J519 目标关节为 `deg`；`RobotConfig.json` `traj_waypoints` 为 `rad`，分析时先转成 `deg`
|
||||||
|
|
||||||
|
补充说明：
|
||||||
|
|
||||||
|
- `../Rvbust/uttc-20260428/` 目录中的内容代表旧抓包及其同目录资料。
|
||||||
|
- `Config/Data/UTTC_MS11/` 目录中的内容代表现在新版程序的运行时导出。
|
||||||
|
- 本文不会把两者混成同一次运行的数据；这里只拿新版程序目录里的文件做“现状参照”，核心分析对象仍然是旧抓包 `2026042802-1.pcap`。
|
||||||
|
|
||||||
|
## 3. 现状核对
|
||||||
|
|
||||||
|
### 3.1 仓库里已经存在什么
|
||||||
|
|
||||||
|
- 旧抓包目录已有原始抓包：`../Rvbust/uttc-20260428/2026042802-1.pcap`
|
||||||
|
- 旧抓包目录已有按运动段拆分的导出：`../Rvbust/uttc-20260428/2026042802-1_joint_segments/`
|
||||||
|
- 旧抓包目录已有速度档位整理结果：`../Rvbust/uttc-20260428/1倍速度 角度坐标点/真实轨迹JointDetialTraj.txt`
|
||||||
|
- 新版程序目录已有运行时导出：`Config/Data/UTTC_MS11/ActualSendJointTraj.txt`
|
||||||
|
- 新版程序目录已有运行时导出：`Config/Data/UTTC_MS11/ActualSendTiming.txt`
|
||||||
|
- 新版程序目录已有理论触发时间轴：`Config/Data/UTTC_MS11/ShotEvents.json`
|
||||||
|
|
||||||
|
### 3.2 当前缺的是什么
|
||||||
|
|
||||||
|
- 新版程序目录中的 `ActualSendJointTraj.txt` 是现在新版程序落盘的真实发送关节轨迹，但不带 IO 列，也不属于 `2026042802-1.pcap` 这次旧抓包本身。
|
||||||
|
- 旧抓包目录中的 `2026042802-1_joint_segments/` 是按运动段拆开的 `JointDetialTraj.txt` 风格导出，也不包含整条抓包的 IO 标记。
|
||||||
|
- 旧抓包目录中的 `1倍速度 角度坐标点/真实轨迹JointDetialTraj.txt` 提供了真实轨迹文本，但同样不带 IO 触发列。
|
||||||
|
- 本次分析前，没有发现一份专门对应 `2026042802-1.pcap` 的“整条真实 J519 发包记录 + IO 标记 + 触发帧筛选”组合导出。
|
||||||
|
|
||||||
|
结论：
|
||||||
|
旧抓包目录和新版程序目录里都已经有各自的轨迹资料，但在本次分析前，还没有一份专门对应 `2026042802-1.pcap` 的、带 IO 触发信息的整条实际发包记录。
|
||||||
|
|
||||||
|
## 4. 本次新增导出
|
||||||
|
|
||||||
|
本次补充生成了以下文件：
|
||||||
|
|
||||||
|
- `analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv`
|
||||||
|
- `1788` 条客户端真实下发 J519 命令
|
||||||
|
- 包含 `frame_number / time_relative_s / sequence / write_io_value / io_addrs / j1..j6`
|
||||||
|
- `analysis/2026042802-1/2026042802-1_j519_trigger_frames.csv`
|
||||||
|
- 只保留每次 IO 高电平脉冲的第一帧
|
||||||
|
- 共 `17` 条，和 `ShotEvents.json` 的触发次数一致
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_vs_teach_points.csv`
|
||||||
|
- 每个真实触发帧与 `UTTC_MS11` 示教点的逐点偏差表
|
||||||
|
- `analysis/2026042802-1/2026042802-1_analysis_summary.json`
|
||||||
|
- 本文档引用的汇总统计
|
||||||
|
|
||||||
|
对应复现脚本：
|
||||||
|
|
||||||
|
- `analysis/analyze_2026042802_1_trigger_vs_teach_points.py`
|
||||||
|
|
||||||
|
## 5. 触发与地址核对
|
||||||
|
|
||||||
|
- 抓包提取到的真实触发次数：`17`
|
||||||
|
- `ShotEvents.json` 中的触发次数：`17`
|
||||||
|
- `write_io_value` 解码出的 `io_addrs` 与 `UTTC_MS11.addr` 没有真实内容不一致
|
||||||
|
- 其中有 `14` 处列表顺序不同，例如抓包里是 `[2, 3, 4]`，配置里写的是 `[3, 4, 2]`
|
||||||
|
- 这 `14` 处只是顺序差异，不是触发地址集合差异
|
||||||
|
- 真正的地址集合不匹配数：`0`
|
||||||
|
|
||||||
|
结论：
|
||||||
|
`2026042802-1.pcap` 中真实发出的 IO 地址集合，与 `UTTC_MS11` 配置的 `addr` 集合是一致的。
|
||||||
|
|
||||||
|
## 6. 触发点与示教点误差统计
|
||||||
|
|
||||||
|
- 平均单点最大单轴误差：`4.241584 deg`
|
||||||
|
- 最大单轴误差：`11.130744 deg`
|
||||||
|
- 平均 RMS 误差：`2.540614 deg`
|
||||||
|
- 最大误差轴分布：`J6=9`、`J4=5`、`J5=1`、`J2=1`、`J1=1`
|
||||||
|
|
||||||
|
这说明：
|
||||||
|
|
||||||
|
- 这份旧抓包里的真实触发点，并不是严格贴在配置示教点上触发
|
||||||
|
- 误差主要集中在 `J6` 和 `J4`
|
||||||
|
- 由于 `../Rvbust/uttc-20260428/RobotConfig.json` 和当前仓库 `Config/RobotConfig.json` 的 `UTTC_MS11` 四组关键字段完全一致，因此这里的“示教点”对旧抓包和当前配置是同一组数据
|
||||||
|
- 如果用户的“对焦准确示教点”就是这组 `traj_waypoints`，那么旧程序实际触发时已经存在几度量级的偏移，而不是亚角度级别的完全重合
|
||||||
|
|
||||||
|
## 7. 最大偏差点
|
||||||
|
|
||||||
|
按最大单轴误差从大到小列出前 5 个触发点：
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | 实际 io_addrs | 最大误差轴 | 最大误差(deg) | RMS误差(deg) | 主要差值 |
|
||||||
|
| --- | --- | --- | --- | ---: | ---: | --- |
|
||||||
|
| 3 | 3 | `[2, 3, 4]` | `J6` | `11.130744` | `5.955608` | `J4 +8.811537`，`J6 -11.130744` |
|
||||||
|
| 7 | 7 | `[3, 4]` | `J6` | `7.194107` | `4.618545` | `J2 -5.441249`，`J4 -6.792278`，`J6 +7.194107` |
|
||||||
|
| 17 | 18 | `[3, 4]` | `J4` | `6.848522` | `4.036140` | `J2 +1.835940`，`J4 -6.848522`，`J6 +6.320424` |
|
||||||
|
| 13 | 13 | `[3, 4]` | `J1` | `6.656209` | `4.109282` | `J1 +6.656209`，`J3 -3.848692`，`J4 +3.795032` |
|
||||||
|
| 8 | 8 | `[2, 4]` | `J6` | `5.939884` | `3.533133` | `J2 -2.961069`，`J4 -5.456660`，`J6 +5.939884` |
|
||||||
|
|
||||||
|
## 8. 逐点结果
|
||||||
|
|
||||||
|
完整逐点数据已写入：
|
||||||
|
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_vs_teach_points.csv`
|
||||||
|
|
||||||
|
这里保留简表，方便直接看每次触发的最大偏差：
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | frame | seq | time(s) | io_addrs | 最大误差轴 | 最大误差(deg) | RMS误差(deg) |
|
||||||
|
| --- | --- | ---: | ---: | ---: | --- | --- | ---: | ---: |
|
||||||
|
| 1 | 1 | 1955 | 1381124 | 5.888271 | `[2, 4]` | `J6` | `3.096909` | `2.341857` |
|
||||||
|
| 2 | 2 | 2151 | 1381198 | 6.480252 | `[2, 3, 4]` | `J4` | `2.737488` | `1.612807` |
|
||||||
|
| 3 | 3 | 2223 | 1381226 | 6.704225 | `[2, 3, 4]` | `J6` | `11.130744` | `5.955608` |
|
||||||
|
| 4 | 4 | 2336 | 1381269 | 7.048266 | `[2, 4]` | `J6` | `2.373383` | `1.439206` |
|
||||||
|
| 5 | 5 | 2477 | 1381321 | 7.464289 | `[2, 4]` | `J5` | `1.973330` | `1.273254` |
|
||||||
|
| 6 | 6 | 2665 | 1381391 | 8.024277 | `[3, 4]` | `J2` | `1.265078` | `0.786940` |
|
||||||
|
| 7 | 7 | 2811 | 1381447 | 8.472317 | `[3, 4]` | `J6` | `7.194107` | `4.618545` |
|
||||||
|
| 8 | 8 | 2908 | 1381483 | 8.760361 | `[2, 4]` | `J6` | `5.939884` | `3.533133` |
|
||||||
|
| 9 | 9 | 3112 | 1381561 | 9.384332 | `[2, 4]` | `J4` | `2.414749` | `1.565121` |
|
||||||
|
| 10 | 10 | 3170 | 1381583 | 9.560358 | `[2, 4]` | `J4` | `3.629631` | `2.268783` |
|
||||||
|
| 11 | 11 | 3350 | 1381651 | 10.104322 | `[2, 4]` | `J6` | `3.113037` | `2.115595` |
|
||||||
|
| 12 | 12 | 3470 | 1381697 | 10.472333 | `[2, 4]` | `J6` | `4.018547` | `2.003201` |
|
||||||
|
| 13 | 13 | 3627 | 1381756 | 10.944371 | `[3, 4]` | `J1` | `6.656209` | `4.109282` |
|
||||||
|
| 14 | 14 | 3710 | 1381787 | 11.192339 | `[2, 4]` | `J6` | `2.834801` | `1.514764` |
|
||||||
|
| 15 | 15 | 3796 | 1381820 | 11.456361 | `[2, 4]` | `J4` | `2.496544` | `1.640818` |
|
||||||
|
| 16 | 16 | 3870 | 1381848 | 11.680362 | `[2, 4]` | `J6` | `3.782349` | `2.176883` |
|
||||||
|
| 17 | 18 | 4138 | 1381950 | 12.496365 | `[3, 4]` | `J4` | `6.848522` | `4.036140` |
|
||||||
|
|
||||||
|
## 9. UTTC_MS11 示教点角度表
|
||||||
|
|
||||||
|
为了便于和导出的触发序列直接手工比对，下面把当前 `UTTC_MS11` 示教点从 `rad` 转成 `deg`。
|
||||||
|
|
||||||
|
说明：
|
||||||
|
|
||||||
|
- `waypoint_index` 使用配置里的原始下标。
|
||||||
|
- `shot_flag=true` 表示该点在配置里是拍照点候选。
|
||||||
|
- `addr` 保留原配置里的触发地址列表，便于和 `io_addrs` 对照。
|
||||||
|
|
||||||
|
| waypoint_index | shot_flag | addr | J1(deg) | J2(deg) | J3(deg) | J4(deg) | J5(deg) | J6(deg) |
|
||||||
|
| --- | --- | --- | ---: | ---: | ---: | ---: | ---: | ---: |
|
||||||
|
| 0 | `false` | `[]` | 60.546226 | 0.668344 | -1.025155 | -0.869105 | 1.231405 | 0.548197 |
|
||||||
|
| 1 | `true` | `[2, 4]` | 48.886810 | 2.198985 | -11.021017 | 0.410210 | 6.248381 | 2.294991 |
|
||||||
|
| 2 | `true` | `[3, 4, 2]` | 55.347755 | 11.807040 | -7.009095 | -71.014331 | 6.012065 | 74.249532 |
|
||||||
|
| 3 | `true` | `[3, 4, 2]` | 55.109808 | 8.759497 | -8.518217 | -41.117250 | 10.108488 | 41.956933 |
|
||||||
|
| 4 | `true` | `[4, 2]` | 43.653593 | -1.629660 | -17.715754 | 5.995209 | 32.171718 | -22.573973 |
|
||||||
|
| 5 | `true` | `[4, 2]` | 64.582445 | 4.262979 | -15.669217 | -29.952927 | 29.850440 | 45.626527 |
|
||||||
|
| 6 | `true` | `[3, 4]` | 60.479483 | 23.068782 | -5.011264 | 36.106855 | 5.525681 | -31.302564 |
|
||||||
|
| 7 | `true` | `[3, 4]` | 70.475837 | 16.393849 | -13.456948 | -27.892319 | 14.535662 | 31.711933 |
|
||||||
|
| 8 | `true` | `[4, 2]` | 69.582464 | -17.105713 | -8.710590 | -58.475694 | 7.630590 | 64.437733 |
|
||||||
|
| 9 | `true` | `[4, 2]` | 73.571259 | -6.429845 | -9.628580 | -128.808647 | 14.671083 | 140.002048 |
|
||||||
|
| 10 | `true` | `[4, 2]` | 75.569386 | -14.679306 | -7.294156 | -130.923033 | 17.688361 | 141.893508 |
|
||||||
|
| 11 | `true` | `[4, 2]` | 86.093498 | -14.498333 | -13.681511 | -69.868296 | 26.742682 | 88.999414 |
|
||||||
|
| 12 | `true` | `[4, 2]` | 61.720733 | -4.232789 | -9.784423 | -108.384083 | 22.160772 | 118.142064 |
|
||||||
|
| 13 | `true` | `[4, 3]` | 79.757083 | 4.640231 | -15.311186 | -56.035312 | 26.133138 | 52.152257 |
|
||||||
|
| 14 | `true` | `[4, 2]` | 108.955551 | 1.370760 | -33.594425 | -48.367361 | 43.963404 | 85.039261 |
|
||||||
|
| 15 | `true` | `[4, 2]` | 110.584848 | -3.860900 | -32.396407 | -51.112591 | 44.229160 | 87.624000 |
|
||||||
|
| 16 | `true` | `[4, 2]` | 118.095952 | -17.376387 | -31.069001 | -59.560538 | 48.732576 | 94.134771 |
|
||||||
|
| 17 | `false` | `[4, 2]` | 62.573787 | -22.938069 | -10.333288 | 77.491373 | 35.583412 | -69.668648 |
|
||||||
|
| 18 | `true` | `[4, 3]` | 60.282482 | -22.938081 | -10.333248 | 77.491642 | 35.583378 | -69.668981 |
|
||||||
|
| 19 | `false` | `[]` | 60.546226 | 0.668344 | -1.025155 | -0.869105 | 1.231405 | 0.548197 |
|
||||||
|
|
||||||
|
## 10. 结论
|
||||||
|
|
||||||
|
1. `../Rvbust/uttc-20260428/` 目录里已有旧抓包相关轨迹资料，`Config/Data/UTTC_MS11/` 目录里已有新版程序运行时导出，但在本次分析前，没有一份专门对应 `2026042802-1.pcap` 的“整条真实 J519 发包记录 + IO 标记”导出。
|
||||||
|
2. 本次已经补齐该导出，文件位于 `analysis/2026042802-1/2026042802-1_j519_actual_send_all_with_io.csv`。
|
||||||
|
3. `2026042802-1.pcap` 的真实 IO 触发次数是 `17`，与 `ShotEvents.json` 一致。
|
||||||
|
4. 抓包中真实触发时使用的 IO 地址集合，与 `UTTC_MS11.addr` 一致；只有列表顺序差异，没有地址集合差异。
|
||||||
|
5. 抓包中真实触发点相对示教点的平均最大单轴误差约 `4.24 deg`，最大达到 `11.13 deg`，主要偏在 `J6` 和 `J4`。
|
||||||
|
6. 因此，如果后续要分析“为什么新程序拍照位置偏了”，不能把 `2026042802-1.pcap` 视为“与当前示教点完全重合的零误差基准”；它本身相对当前配置示教点就存在明显偏差。
|
||||||
|
|
||||||
|
## 11. 触发点前 6 个周期的实际关节坐标与示教点差值
|
||||||
|
|
||||||
|
在这份旧抓包里，17 个真实触发点对应的“最接近示教点”的实际采样点，统一出现在触发前 `6` 个周期，也就是前 `48ms`。
|
||||||
|
|
||||||
|
为了方便手工比对，这里把每个触发点前 `6` 个周期的实际关节坐标单独列出来，并和对应示教点逐轴做差。
|
||||||
|
|
||||||
|
说明：
|
||||||
|
|
||||||
|
- `pre6_frame` / `pre6_time` 是触发帧前 `6` 个 `8ms` 周期的实际 J519 发包点。
|
||||||
|
- `pre6_j*` 是该时刻的实际关节角度，单位 `deg`。
|
||||||
|
- `diff_j*` 定义为 `pre6_actual - teach_point`，单位 `deg`。
|
||||||
|
- 这张表更适合你直接和导出的触发序列逐点人工核对。
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | pre6_frame | pre6_time(s) | pre6_J1 | pre6_J2 | pre6_J3 | pre6_J4 | pre6_J5 | pre6_J6 | diff_J1 | diff_J2 | diff_J3 | diff_J4 | diff_J5 | diff_J6 | max_abs_diff(deg) | rms_diff(deg) |
|
||||||
|
| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
|
||||||
|
| 1 | 1 | 1941 | 5.840207 | 49.036247 | 2.169637 | -10.893022 | 0.469577 | 6.183248 | 2.196172 | +0.149437 | -0.029348 | +0.127996 | +0.059368 | -0.065133 | -0.098818 | 0.149437 | 0.097560 |
|
||||||
|
| 2 | 2 | 2135 | 6.432175 | 55.402473 | 11.806953 | -6.980721 | -70.955170 | 6.007696 | 74.193436 | +0.054718 | -0.000086 | +0.028375 | +0.059162 | -0.004369 | -0.056096 | 0.059162 | 0.041764 |
|
||||||
|
| 3 | 3 | 2207 | 6.656264 | 55.185375 | 8.828770 | -8.461165 | -41.609406 | 9.991771 | 42.555542 | +0.075567 | +0.069272 | +0.057051 | -0.492155 | -0.116717 | +0.598609 | 0.598609 | 0.323506 |
|
||||||
|
| 4 | 4 | 2321 | 7.000291 | 43.639214 | -1.593877 | -17.673382 | 5.988685 | 32.060623 | -22.587208 | -0.014380 | +0.035782 | +0.042372 | -0.006524 | -0.111095 | -0.013234 | 0.111095 | 0.051385 |
|
||||||
|
| 5 | 5 | 2457 | 7.416267 | 64.456329 | 4.153820 | -15.749991 | -29.951208 | 30.008862 | 45.422455 | -0.126115 | -0.109159 | -0.080774 | +0.001719 | +0.158422 | -0.204073 | 0.204073 | 0.129802 |
|
||||||
|
| 6 | 6 | 2649 | 7.976283 | 60.479656 | 23.070845 | -5.011842 | 36.106964 | 5.525600 | -31.304708 | +0.000174 | +0.002063 | -0.000578 | +0.000109 | -0.000081 | -0.002145 | 0.002145 | 0.001241 |
|
||||||
|
| 7 | 7 | 2795 | 8.424315 | 70.489815 | 16.270372 | -13.455009 | -28.079985 | 14.531018 | 31.910471 | +0.013978 | -0.123476 | +0.001939 | -0.187666 | -0.004644 | +0.198538 | 0.198538 | 0.122545 |
|
||||||
|
| 8 | 8 | 2892 | 8.712310 | 69.566750 | -17.333443 | -8.667440 | -58.787853 | 7.566183 | 64.777092 | -0.015715 | -0.227729 | +0.043149 | -0.312159 | -0.064407 | +0.339359 | 0.339359 | 0.212417 |
|
||||||
|
| 9 | 9 | 3096 | 9.336375 | 73.577042 | -6.447144 | -9.620103 | -128.858627 | 14.686206 | 140.051056 | +0.005783 | -0.017298 | +0.008477 | -0.049980 | +0.015123 | +0.049008 | 0.049980 | 0.030367 |
|
||||||
|
| 10 | 10 | 3154 | 9.512325 | 75.498016 | -14.523483 | -7.317341 | -131.103271 | 17.629053 | 142.061157 | -0.071370 | +0.155823 | -0.023185 | -0.180238 | -0.059308 | +0.167649 | 0.180238 | 0.125181 |
|
||||||
|
| 11 | 11 | 3334 | 10.056378 | 86.017281 | -14.446944 | -13.689492 | -69.926414 | 26.744770 | 89.069130 | -0.076217 | +0.051389 | -0.007981 | -0.058119 | +0.002088 | +0.069716 | 0.076217 | 0.052846 |
|
||||||
|
| 12 | 12 | 3455 | 10.424364 | 61.554295 | -4.126511 | -9.723098 | -108.476807 | 22.091070 | 117.986275 | -0.166438 | +0.106278 | +0.061325 | -0.092724 | -0.069702 | -0.155789 | 0.166438 | 0.115819 |
|
||||||
|
| 13 | 13 | 3611 | 10.896324 | 80.232681 | 4.624288 | -15.574081 | -55.685375 | 26.385595 | 52.279755 | +0.475598 | -0.015943 | -0.262896 | +0.349937 | +0.252457 | +0.127497 | 0.475598 | 0.288100 |
|
||||||
|
| 14 | 14 | 3694 | 11.144347 | 108.790268 | 1.405766 | -33.485344 | -48.378551 | 43.857502 | 84.771103 | -0.165283 | +0.035006 | +0.109081 | -0.011190 | -0.105902 | -0.268158 | 0.268158 | 0.143580 |
|
||||||
|
| 15 | 15 | 3780 | 11.408361 | 110.543327 | -3.739877 | -32.432842 | -50.983562 | 44.216587 | 87.566269 | -0.041521 | +0.121023 | -0.036435 | +0.129028 | -0.012573 | -0.057731 | 0.129028 | 0.079412 |
|
||||||
|
| 16 | 16 | 3854 | 11.632360 | 118.081940 | -17.294281 | -31.087101 | -59.614193 | 48.711964 | 94.208046 | -0.014013 | +0.082106 | -0.018100 | -0.053655 | -0.020612 | +0.073275 | 0.082106 | 0.051540 |
|
||||||
|
| 17 | 18 | 4121 | 12.448375 | 60.258179 | -22.880474 | -10.315624 | 77.249168 | 35.501560 | -69.439224 | -0.024304 | +0.057606 | +0.017624 | -0.242474 | -0.081817 | +0.229756 | 0.242474 | 0.142884 |
|
||||||
|
|
||||||
|
这张表说明：
|
||||||
|
|
||||||
|
- 如果把旧程序的真实 IO 触发点整体前移 `6` 个周期，再去看对应关节坐标，它们和示教点已经非常接近。
|
||||||
|
- 17 个点里，大多数前 `6` 周期采样点与示教点的最大单轴误差都在 `0.05 ~ 0.34 deg`。
|
||||||
|
- 误差较大的两个点是：
|
||||||
|
- `trigger 3`：`max_abs_diff = 0.598609 deg`
|
||||||
|
- `trigger 13`：`max_abs_diff = 0.475598 deg`
|
||||||
|
- 这进一步支持一个很强的现象：旧抓包里的真实 IO 触发时刻，相对“最接近示教点”的实际运动位置，整体滞后约 `48ms`。
|
||||||
|
|
||||||
|
## 12. 复现命令
|
||||||
|
|
||||||
|
在仓库根目录执行：
|
||||||
|
|
||||||
|
```powershell
|
||||||
|
python analysis/analyze_2026042802_1_trigger_vs_teach_points.py
|
||||||
|
python analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py
|
||||||
|
```
|
||||||
|
|
||||||
|
脚本默认读取：
|
||||||
|
|
||||||
|
- `../Rvbust/uttc-20260428/2026042802-1.pcap`
|
||||||
|
- `Config/RobotConfig.json`
|
||||||
|
- `D:\Zyx\Downloads\WiresharkPortable32\App\Wireshark\tshark.exe`
|
||||||
|
|
||||||
|
如果后续 Wireshark 路径变化，需要先同步修改脚本中的 `DEFAULT_TSHARK`。
|
||||||
|
|
||||||
|
## 13. 60015 状态反馈视角复核
|
||||||
|
|
||||||
|
上面第 11 节的“前 6 个周期最接近示教点”，只是在看：
|
||||||
|
|
||||||
|
- `192.168.10.10 -> 192.168.10.11` 的 64B J519 下发命令序列
|
||||||
|
|
||||||
|
它说明的是“命令目标流”和示教点之间的相对时序，不能直接等价成“机械臂实时反馈已经过了示教点才触发”。
|
||||||
|
|
||||||
|
针对你补充的 `buffer_size` 线索，这里进一步直接解析了：
|
||||||
|
|
||||||
|
- `192.168.10.11 -> 192.168.10.10` 的 132B `UDP 60015` 状态包
|
||||||
|
- 解码口径与仓库运行时代码 `src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Protocol.cs` 一致，全部按大端解析
|
||||||
|
- 关节反馈字段使用状态包里的 `0x3C ~ 0x57` 六轴 `float32 deg`
|
||||||
|
|
||||||
|
本次新增文件：
|
||||||
|
|
||||||
|
- `analysis/2026042802-1/2026042802-1_j519_status_feedback_all.csv`
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_status_feedback_vs_teach_points.csv`
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_manual_compare.csv`
|
||||||
|
- `analysis/2026042802-1/2026042802-1_status_feedback_summary.json`
|
||||||
|
- `analysis/analyze_2026042802_1_status_feedback_vs_teach_points.py`
|
||||||
|
|
||||||
|
### 13.1 序列号关系先确认
|
||||||
|
|
||||||
|
整条抓包里共提取到：
|
||||||
|
|
||||||
|
- 状态包 `1789` 条
|
||||||
|
- 命令包 `1788` 条
|
||||||
|
|
||||||
|
对每一条命令帧，取它前一个状态帧做对齐，结果是：
|
||||||
|
|
||||||
|
- `命令 sequence - 前一条状态 sequence = 8`
|
||||||
|
- 统计结果：`1788 / 1788` 全部成立
|
||||||
|
|
||||||
|
这说明在这份旧抓包里，`buffer_size=8` 不是偶发现象，而是整条 J519 流都稳定成立。
|
||||||
|
|
||||||
|
换句话说：
|
||||||
|
|
||||||
|
- 触发命令包上的 `sequence=1381124`
|
||||||
|
- 它对应“当前实时反馈”的状态包 `sequence=1381116`
|
||||||
|
- 中间固定隔着 `8` 个状态周期，也就是约 `64ms`
|
||||||
|
|
||||||
|
### 13.2 触发当下的实时反馈，并不在示教点附近
|
||||||
|
|
||||||
|
如果直接取“每个触发命令帧对应的当前状态包”，也就是：
|
||||||
|
|
||||||
|
- `paired_status_sequence = trigger_sequence - 8`
|
||||||
|
|
||||||
|
那么 17 个点相对示教点的误差反而更大：
|
||||||
|
|
||||||
|
- 平均最大单轴误差：`6.469219 deg`
|
||||||
|
- 最大单轴误差：`16.123934 deg`
|
||||||
|
- 最大误差轴分布：`J6=9`、`J2=4`、`J1=2`、`J4=2`
|
||||||
|
|
||||||
|
这说明：
|
||||||
|
|
||||||
|
- 机械臂在触发命令真正下发的那个时刻，对应的实时反馈位置，大多数情况下还没有跑到示教点附近
|
||||||
|
- 所以“最接近示教点都出现在触发前 6 个周期”这个现象，不能理解成“机器人已经过了示教点才开始触发”
|
||||||
|
- 那只是命令流相对示教点的时序关系；实时反馈要再往后看
|
||||||
|
|
||||||
|
### 13.3 实时反馈最接近示教点，出现在触发后 9 到 10 个状态周期
|
||||||
|
|
||||||
|
对每个触发点，以 `paired_status_sequence = trigger_sequence - 8` 为起点，在前后 `±20` 个状态周期里搜索“与示教点最接近”的状态反馈帧，结果统一得到：
|
||||||
|
|
||||||
|
- 最佳点相对 `paired_status` 晚 `9` 或 `10` 个状态周期
|
||||||
|
- 统计分布：`9 周期 = 9` 次，`10 周期 = 8` 次
|
||||||
|
|
||||||
|
折算成触发命令时刻：
|
||||||
|
|
||||||
|
- 最佳点相对触发命令晚 `1` 或 `2` 个状态周期
|
||||||
|
- 统计分布：`+1 周期 = 9` 次，`+2 周期 = 8` 次
|
||||||
|
- 对应抓包时间差约 `71.838 ~ 79.964 ms`
|
||||||
|
- 平均约 `75.661 ms`
|
||||||
|
|
||||||
|
这里看起来像是 `1~2` 周期，但要注意基准不同：
|
||||||
|
|
||||||
|
- 触发命令本身领先当前状态 `8` 个周期
|
||||||
|
- 所以“触发后约 `72~80ms` 才最接近示教点”与“状态流从当前反馈再往后走 `9~10` 个周期才到位”本质上是同一件事
|
||||||
|
|
||||||
|
### 13.4 实时反馈视角的逐点结果
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | trigger_frame | trigger_seq | paired_status_frame | paired_status_seq | 触发当下最大误差轴 | 触发当下最大误差(deg) | 触发当下RMS(deg) | 最佳状态seq | 最佳状态相对当前反馈晚几周期 | 最佳状态相对触发时间(ms) | 最佳状态最大误差(deg) | 最佳状态RMS(deg) |
|
||||||
|
| --- | --- | ---: | ---: | ---: | ---: | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
|
||||||
|
| 1 | 1 | 1955 | 1381124 | 1954 | 1381116 | J1 | 6.588242 | 3.822544 | 1381126 | 10 | 79.853 | 0.207590 | 0.122397 |
|
||||||
|
| 2 | 2 | 2151 | 1381198 | 2150 | 1381190 | J1 | 2.335315 | 1.382754 | 1381199 | 9 | 71.912 | 0.082134 | 0.046161 |
|
||||||
|
| 3 | 3 | 2223 | 1381226 | 2222 | 1381218 | J6 | 16.123934 | 8.852377 | 1381228 | 10 | 79.929 | 0.569692 | 0.323964 |
|
||||||
|
| 4 | 4 | 2336 | 1381269 | 2335 | 1381261 | J6 | 4.901883 | 3.244056 | 1381271 | 10 | 79.909 | 0.094704 | 0.065805 |
|
||||||
|
| 5 | 5 | 2477 | 1381321 | 2476 | 1381313 | J6 | 9.219438 | 4.621321 | 1381323 | 10 | 79.833 | 0.056622 | 0.033575 |
|
||||||
|
| 6 | 6 | 2665 | 1381391 | 2664 | 1381383 | J6 | 6.146461 | 3.047841 | 1381392 | 9 | 71.904 | 0.176974 | 0.085631 |
|
||||||
|
| 7 | 7 | 2811 | 1381447 | 2810 | 1381439 | J6 | 13.151718 | 7.782024 | 1381448 | 9 | 71.873 | 0.306587 | 0.182107 |
|
||||||
|
| 8 | 8 | 2908 | 1381483 | 2907 | 1381475 | J6 | 7.436279 | 5.127041 | 1381484 | 9 | 71.838 | 0.060748 | 0.027507 |
|
||||||
|
| 9 | 9 | 3112 | 1381561 | 3111 | 1381553 | J6 | 5.585605 | 3.277206 | 1381562 | 9 | 71.873 | 0.152260 | 0.089150 |
|
||||||
|
| 10 | 10 | 3170 | 1381583 | 3169 | 1381575 | J2 | 4.165077 | 2.128984 | 1381585 | 10 | 79.856 | 0.073440 | 0.043286 |
|
||||||
|
| 11 | 11 | 3350 | 1381651 | 3349 | 1381643 | J2 | 1.830953 | 1.169340 | 1381652 | 9 | 71.898 | 0.077668 | 0.042465 |
|
||||||
|
| 12 | 12 | 3470 | 1381697 | 3469 | 1381689 | J4 | 4.822353 | 2.861125 | 1381698 | 9 | 71.950 | 0.021077 | 0.014936 |
|
||||||
|
| 13 | 13 | 3627 | 1381756 | 3626 | 1381748 | J4 | 8.152508 | 5.168659 | 1381757 | 9 | 71.855 | 0.145543 | 0.069960 |
|
||||||
|
| 14 | 14 | 3710 | 1381787 | 3709 | 1381779 | J6 | 10.404419 | 5.679811 | 1381789 | 10 | 79.922 | 0.119453 | 0.058360 |
|
||||||
|
| 15 | 15 | 3796 | 1381820 | 3795 | 1381812 | J2 | 2.616108 | 1.591175 | 1381822 | 10 | 79.926 | 0.149803 | 0.087169 |
|
||||||
|
| 16 | 16 | 3870 | 1381848 | 3869 | 1381840 | J2 | 4.682474 | 2.206740 | 1381850 | 10 | 79.964 | 0.172956 | 0.104194 |
|
||||||
|
| 17 | 18 | 4138 | 1381950 | 4137 | 1381942 | J6 | 1.813960 | 1.153699 | 1381951 | 9 | 71.948 | 0.074923 | 0.038345 |
|
||||||
|
|
||||||
|
### 13.4.1 手工核对专用三时刻对照
|
||||||
|
|
||||||
|
如果你后面要拿着导出的触发序列人工对比，最推荐直接看下面这张表。
|
||||||
|
|
||||||
|
对应单独导出文件：
|
||||||
|
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_manual_compare.csv`
|
||||||
|
|
||||||
|
它把每个触发点压缩成 3 个时刻：
|
||||||
|
|
||||||
|
- `触发命令时刻`
|
||||||
|
- 你真正发出去、同时带着 IO 触发的那条命令
|
||||||
|
- `触发当下实时反馈`
|
||||||
|
- 按 `buffer_size=8` 回推到当时机器人真实反馈所对应的状态包
|
||||||
|
- `最接近示教点的实时反馈`
|
||||||
|
- 在状态流中真正最贴近示教点的那一帧
|
||||||
|
|
||||||
|
可以直接把它理解成一句话：
|
||||||
|
|
||||||
|
- “我在第几条命令上触发了”
|
||||||
|
- “触发那一刻机器人实际还差多少”
|
||||||
|
- “再过多久机器人才真正到最接近示教点的位置”
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | 触发命令seq | 触发命令frame | 触发当下状态seq | 触发当下状态frame | 命令领先状态(周期) | 触发当下最大误差(deg) | 最接近示教点状态seq | 最接近示教点状态frame | 从触发当下反馈再晚几周期 | 相对触发命令再晚几周期 | 相对触发命令再晚多久(ms) | 最接近示教点最大误差(deg) |
|
||||||
|
| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
|
||||||
|
| 1 | 1 | 1381124 | 1955 | 1381116 | 1954 | 8 | 6.588242 | 1381126 | 1977 | 10 | 2 | 79.853 | 0.207590 |
|
||||||
|
| 2 | 2 | 1381198 | 2151 | 1381190 | 2150 | 8 | 2.335315 | 1381199 | 2174 | 9 | 1 | 71.912 | 0.082134 |
|
||||||
|
| 3 | 3 | 1381226 | 2223 | 1381218 | 2222 | 8 | 16.123934 | 1381228 | 2248 | 10 | 2 | 79.929 | 0.569692 |
|
||||||
|
| 4 | 4 | 1381269 | 2336 | 1381261 | 2335 | 8 | 4.901883 | 1381271 | 2361 | 10 | 2 | 79.909 | 0.094704 |
|
||||||
|
| 5 | 5 | 1381321 | 2477 | 1381313 | 2476 | 8 | 9.219438 | 1381323 | 2502 | 10 | 2 | 79.833 | 0.056622 |
|
||||||
|
| 6 | 6 | 1381391 | 2665 | 1381383 | 2664 | 8 | 6.146461 | 1381392 | 2687 | 9 | 1 | 71.904 | 0.176974 |
|
||||||
|
| 7 | 7 | 1381447 | 2811 | 1381439 | 2810 | 8 | 13.151718 | 1381448 | 2833 | 9 | 1 | 71.873 | 0.306587 |
|
||||||
|
| 8 | 8 | 1381483 | 2908 | 1381475 | 2907 | 8 | 7.436279 | 1381484 | 2930 | 9 | 1 | 71.838 | 0.060748 |
|
||||||
|
| 9 | 9 | 1381561 | 3112 | 1381553 | 3111 | 8 | 5.585605 | 1381562 | 3134 | 9 | 1 | 71.873 | 0.152260 |
|
||||||
|
| 10 | 10 | 1381583 | 3170 | 1381575 | 3169 | 8 | 4.165077 | 1381585 | 3195 | 10 | 2 | 79.856 | 0.073440 |
|
||||||
|
| 11 | 11 | 1381651 | 3350 | 1381643 | 3349 | 8 | 1.830953 | 1381652 | 3372 | 9 | 1 | 71.898 | 0.077668 |
|
||||||
|
| 12 | 12 | 1381697 | 3470 | 1381689 | 3469 | 8 | 4.822353 | 1381698 | 3492 | 9 | 1 | 71.950 | 0.021077 |
|
||||||
|
| 13 | 13 | 1381756 | 3627 | 1381748 | 3626 | 8 | 8.152508 | 1381757 | 3649 | 9 | 1 | 71.855 | 0.145543 |
|
||||||
|
| 14 | 14 | 1381787 | 3710 | 1381779 | 3709 | 8 | 10.404419 | 1381789 | 3735 | 10 | 2 | 79.922 | 0.119453 |
|
||||||
|
| 15 | 15 | 1381820 | 3796 | 1381812 | 3795 | 8 | 2.616108 | 1381822 | 3821 | 10 | 2 | 79.926 | 0.149803 |
|
||||||
|
| 16 | 16 | 1381848 | 3870 | 1381840 | 3869 | 8 | 4.682474 | 1381850 | 3895 | 10 | 2 | 79.964 | 0.172956 |
|
||||||
|
| 17 | 18 | 1381950 | 4138 | 1381942 | 4137 | 8 | 1.813960 | 1381951 | 4160 | 9 | 1 | 71.948 | 0.074923 |
|
||||||
|
|
||||||
|
这张表最适合回答两个实际问题：
|
||||||
|
|
||||||
|
1. 触发到底是不是已经“跑过点”才发生的
|
||||||
|
- 不是
|
||||||
|
- 因为触发当下对应的实时反馈误差仍然明显存在
|
||||||
|
|
||||||
|
2. 真正最接近示教点的实时位置，距离触发还差多久
|
||||||
|
- 大部分点还要再过 `1` 或 `2` 个命令周期
|
||||||
|
- 如果换成状态反馈基准，就是再过 `9` 或 `10` 个状态周期
|
||||||
|
- 时间量级稳定在 `72~80ms`
|
||||||
|
|
||||||
|
### 13.4.2 可以优先人工盯的异常点
|
||||||
|
|
||||||
|
如果你不想一开始就看 17 个点，建议优先盯下面几类：
|
||||||
|
|
||||||
|
- `trigger 3`
|
||||||
|
- 触发当下实时反馈最大误差 `16.123934 deg`
|
||||||
|
- 即便到“最佳反馈时刻”，最大误差也还有 `0.569692 deg`
|
||||||
|
- 它是 17 个点里最值得优先复核的一个
|
||||||
|
- `trigger 7`
|
||||||
|
- 触发当下实时反馈最大误差 `13.151718 deg`
|
||||||
|
- 到位后仍有 `0.306587 deg`
|
||||||
|
- `trigger 14`
|
||||||
|
- 触发当下实时反馈最大误差 `10.404419 deg`
|
||||||
|
- 属于第二档明显偏大的点
|
||||||
|
- `trigger 1`
|
||||||
|
- 触发当下误差 `6.588242 deg`，而且最大误差轴是 `J1`
|
||||||
|
- 和前面很多 `J6` 主导的点不一样，适合拿来对比不同类型
|
||||||
|
|
||||||
|
如果你想最快抓住旧程序补偿逻辑，建议先人工对照：
|
||||||
|
|
||||||
|
- `trigger 3`
|
||||||
|
- `trigger 7`
|
||||||
|
- `trigger 14`
|
||||||
|
- `trigger 1`
|
||||||
|
|
||||||
|
这 4 个点已经能覆盖：
|
||||||
|
|
||||||
|
- `J6` 主导的大偏差
|
||||||
|
- `J1` 主导的特殊点
|
||||||
|
- `+1` 周期到位与 `+2` 周期到位两种情况
|
||||||
|
|
||||||
|
### 13.5 对“为什么触发时间看起来在我运动到这个位置之后”的解释
|
||||||
|
|
||||||
|
现在可以把两种视角彻底分开：
|
||||||
|
|
||||||
|
1. 命令流视角
|
||||||
|
- 触发命令帧前 `6` 个周期的目标点，和示教点已经非常接近
|
||||||
|
- 所以如果只看“发给机器人什么目标”，会误以为触发发生在“经过示教点之后”
|
||||||
|
|
||||||
|
2. 实时反馈视角
|
||||||
|
- 由于 `buffer_size=8`，触发命令帧本身就领先当前状态 `8` 个周期
|
||||||
|
- 触发时刻对应的实时反馈，其实还没到示教点附近
|
||||||
|
- 再往后走 `9~10` 个状态周期，反馈才最接近示教点
|
||||||
|
|
||||||
|
因此更准确的表述应该是：
|
||||||
|
|
||||||
|
- 旧程序不是“机器人已经跑过示教点才开始触发”
|
||||||
|
- 而是“触发命令是按一个提前缓存的目标序列发出去的，命令序列本身比实时反馈领先 8 个周期”
|
||||||
|
- 叠加旧程序里触发标志在目标序列上的布置位置，就会出现：
|
||||||
|
- 命令流看起来：最接近示教点在触发前 `6` 个周期
|
||||||
|
- 实时反馈看起来：最接近示教点在触发后 `9~10` 个状态周期
|
||||||
|
|
||||||
|
两者并不矛盾，基准不同而已。
|
||||||
|
|
||||||
|
### 13.6 本节结论
|
||||||
|
|
||||||
|
1. 这份旧抓包的 `60015` 状态流已经直接证明：下发命令序列稳定领先当前状态序列 `8` 个周期。
|
||||||
|
2. 因此不能再把“命令流中的前 6 周期最接近示教点”误解成“机械臂真实位置已经过点后才触发”。
|
||||||
|
3. 按实时反馈看，17 个触发点在触发当下都还没有到示教点附近；最接近示教点的反馈统一出现在触发后约 `72~80ms`。
|
||||||
|
4. 如果后续要反推旧程序拍照补偿逻辑，优先应该建模成：
|
||||||
|
- `命令目标序列` 提前缓存 `8` 个周期
|
||||||
|
- `触发标志` 在目标序列上又相对示教点提前约 `6` 个周期
|
||||||
|
- 两者叠加后，实时反馈到位时刻落在触发之后约 `1~2` 个命令周期
|
||||||
|
|
||||||
|
## 14. TriggerSampleIndexOffsetCycles 取值 6 / 7 / 8 的对照
|
||||||
|
|
||||||
|
在代码里把触发绑定后移做成显式配置之后，进一步对 `6 / 7 / 8` 三档做了离线对照。
|
||||||
|
|
||||||
|
本节的比较口径是：
|
||||||
|
|
||||||
|
- 先找“最接近示教点”的最佳命令 sample
|
||||||
|
- 再分别向后偏移 `6 / 7 / 8` 个命令周期
|
||||||
|
- 比较这三档各自落到的命令帧，与旧抓包真实触发帧的误差大小
|
||||||
|
|
||||||
|
新增文件：
|
||||||
|
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_compare.csv`
|
||||||
|
- `analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json`
|
||||||
|
- `analysis/build_trigger_offset_compare_6_7_8.py`
|
||||||
|
|
||||||
|
### 14.1 汇总结论
|
||||||
|
|
||||||
|
三档比较结果非常明确：
|
||||||
|
|
||||||
|
- `6` 周期胜出 `17 / 17`
|
||||||
|
- `7` 周期胜出 `0 / 17`
|
||||||
|
- `8` 周期胜出 `0 / 17`
|
||||||
|
|
||||||
|
平均误差也呈现单调变差：
|
||||||
|
|
||||||
|
| 偏移周期 | 平均最大单轴误差(deg) | 平均RMS误差(deg) |
|
||||||
|
| --- | ---: | ---: |
|
||||||
|
| `6` | `4.241584` | `2.540614` |
|
||||||
|
| `7` | `5.068092` | `3.021297` |
|
||||||
|
| `8` | `5.931684` | `3.520176` |
|
||||||
|
|
||||||
|
这说明：
|
||||||
|
|
||||||
|
- 如果目标是“尽量复刻旧抓包里的真实命令触发点”，`TriggerSampleIndexOffsetCycles` 应该选 `6`
|
||||||
|
- 当前写入配置的 `7`，更偏向“再往后推一拍”，但它并不更接近这份旧抓包
|
||||||
|
|
||||||
|
### 14.2 逐点对照表
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | 最佳sample frame | 偏移6 frame | 偏移6最大误差 | 偏移6RMS | 偏移7 frame | 偏移7最大误差 | 偏移7RMS | 偏移8 frame | 偏移8最大误差 | 偏移8RMS | 本点最优偏移 |
|
||||||
|
| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | --- |
|
||||||
|
| 1 | 1 | 1941 | 1955 | 3.406527 | 2.468439 | 1958 | 4.180932 | 2.935578 | 1961 | 5.004552 | 3.418447 | `6` |
|
||||||
|
| 2 | 2 | 2135 | 2151 | 2.816723 | 1.656246 | 2153 | 3.526760 | 2.060948 | 2155 | 4.301479 | 2.503393 | `6` |
|
||||||
|
| 3 | 3 | 2207 | 2223 | 11.130744 | 5.955608 | 2227 | 13.165517 | 7.035338 | 2229 | 15.212756 | 8.119717 | `6` |
|
||||||
|
| 4 | 4 | 2321 | 2336 | 2.311684 | 1.373158 | 2339 | 3.083186 | 1.743718 | 2341 | 3.952016 | 2.158078 | `6` |
|
||||||
|
| 5 | 5 | 2457 | 2477 | 2.171828 | 1.404704 | 2479 | 2.585320 | 1.667010 | 2483 | 3.004922 | 1.950746 | `6` |
|
||||||
|
| 6 | 6 | 2649 | 2665 | 1.408994 | 0.842403 | 2667 | 1.770170 | 1.066919 | 2669 | 2.303903 | 1.330975 | `6` |
|
||||||
|
| 7 | 7 | 2795 | 2811 | 7.194107 | 4.618545 | 2814 | 8.248680 | 5.331516 | 2817 | 9.275559 | 6.035874 | `6` |
|
||||||
|
| 8 | 8 | 2892 | 2908 | 5.939884 | 3.533133 | 2910 | 6.922169 | 4.090128 | 2912 | 7.916950 | 4.649087 | `6` |
|
||||||
|
| 9 | 9 | 3096 | 3112 | 2.524071 | 1.630593 | 3114 | 2.830116 | 1.857618 | 3118 | 3.101311 | 2.072647 | `6` |
|
||||||
|
| 10 | 10 | 3154 | 3170 | 3.392997 | 2.105986 | 3172 | 4.172522 | 2.562682 | 3175 | 4.999007 | 3.042228 | `6` |
|
||||||
|
| 11 | 11 | 3334 | 3350 | 2.984824 | 2.013493 | 3352 | 3.668105 | 2.458222 | 3355 | 4.397696 | 2.932320 | `6` |
|
||||||
|
| 12 | 12 | 3455 | 3470 | 4.000958 | 1.990246 | 3474 | 4.929097 | 2.393668 | 3476 | 5.929425 | 2.827363 | `6` |
|
||||||
|
| 13 | 13 | 3611 | 3627 | 6.656209 | 4.109282 | 3629 | 7.722974 | 4.798702 | 3633 | 8.793828 | 5.501948 | `6` |
|
||||||
|
| 14 | 14 | 3694 | 3710 | 2.935180 | 1.567983 | 3712 | 3.224395 | 1.721797 | 3714 | 3.454963 | 1.844232 | `6` |
|
||||||
|
| 15 | 15 | 3780 | 3796 | 2.573147 | 1.686690 | 3798 | 3.074261 | 2.037358 | 3801 | 3.579433 | 2.398059 | `6` |
|
||||||
|
| 16 | 16 | 3854 | 3870 | 3.810522 | 2.197783 | 3872 | 4.756826 | 2.710410 | 3874 | 5.783033 | 3.263711 | `6` |
|
||||||
|
| 17 | 18 | 4121 | 4138 | 6.848522 | 4.036140 | 4140 | 8.296536 | 4.890438 | 4142 | 9.827793 | 5.794164 | `6` |
|
||||||
|
|
||||||
|
### 14.3 推荐
|
||||||
|
|
||||||
|
因此这里可以分成两个不同目标：
|
||||||
|
|
||||||
|
1. 如果目标是“尽量复刻旧程序抓包”
|
||||||
|
- 推荐：`TriggerSampleIndexOffsetCycles = 6`
|
||||||
|
|
||||||
|
2. 如果目标是“主观上想往实时反馈更靠后推一点，再试效果”
|
||||||
|
- 可以继续保留 `7`
|
||||||
|
- 但要明确：这已经不是“最接近旧抓包”的取值，而是主动做新的补偿尝试
|
||||||
|
|
||||||
|
当前基于旧抓包证据，我更推荐：
|
||||||
|
|
||||||
|
- 先把配置从 `7` 改回 `6`
|
||||||
|
- 再拿新程序实际导出的 `ActualSendJointTraj.txt + ShotEvents.json + 现场图像效果` 做下一轮闭环
|
||||||
125
docs/camera-trigger-actual-offset-pcap-record-20260508.md
Normal file
125
docs/camera-trigger-actual-offset-pcap-record-20260508.md
Normal file
@@ -0,0 +1,125 @@
|
|||||||
|
# 相机触发实际偏差抓包触发点记录
|
||||||
|
|
||||||
|
## 数据来源
|
||||||
|
|
||||||
|
- 抓包文件：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/Rvbust/相机触发实际偏差.pcap`
|
||||||
|
- 对照配置：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/flyshot-replacement/Config/RobotConfig.json` 中 `flying_shots.UTTC_MS11`
|
||||||
|
- 提取口径：只看 `192.168.10.5:50843 -> 192.168.10.11:60015` 的 64B J519 命令帧。
|
||||||
|
- 触发判定：`write_io_mask > 0 && write_io_value > 0` 视为 IO 置位。
|
||||||
|
- 去重规则：由于 `io_keep_cycles=2`，每次触发会连续保持两帧高电平；本文档每组只记录第一帧，最终得到 17 次真实触发。
|
||||||
|
- 关节单位：抓包中的 J519 目标关节为 `deg`。
|
||||||
|
|
||||||
|
## 统计
|
||||||
|
|
||||||
|
- 真实触发次数：17
|
||||||
|
- 平均单点最大单轴误差：0.142224 deg
|
||||||
|
- 最大单轴误差：0.309618 deg
|
||||||
|
- 平均 RMS 误差：0.085167 deg
|
||||||
|
|
||||||
|
## 触发记录
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | frame | seq | 相对时间(s) | io_mask | J1(deg) | J2(deg) | J3(deg) | J4(deg) | J5(deg) | J6(deg) | 最大误差轴 | 最大误差(deg) | RMS误差(deg) |
|
||||||
|
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
|
||||||
|
| 1 | 1 | 2445 | 4641 | 7.536586 | 10 | 48.879890 | 2.237859 | -11.024109 | 0.101012 | 6.253663 | 2.604609 | J6 | 0.309618 | 0.179380 |
|
||||||
|
| 2 | 2 | 2689 | 4739 | 8.320342 | 14 | 55.367146 | 11.804994 | -7.005956 | -70.935097 | 6.014911 | 74.180328 | J4 | 0.079235 | 0.043714 |
|
||||||
|
| 3 | 3 | 2779 | 4769 | 8.560284 | 14 | 55.135155 | 8.783901 | -8.500860 | -41.282757 | 10.067441 | 42.164478 | J6 | 0.207545 | 0.110824 |
|
||||||
|
| 4 | 4 | 2882 | 4811 | 8.896328 | 10 | 43.623173 | -1.579988 | -17.651855 | 6.007176 | 32.012070 | -22.635672 | J5 | 0.159648 | 0.078436 |
|
||||||
|
| 5 | 5 | 3004 | 4860 | 9.288442 | 10 | 64.717529 | 4.395389 | -15.566289 | -29.885765 | 29.651941 | 45.777378 | J5 | 0.198499 | 0.137260 |
|
||||||
|
| 6 | 6 | 3169 | 4921 | 9.776381 | 12 | 60.502796 | 23.212698 | -5.056696 | 36.065346 | 5.528813 | -31.387259 | J2 | 0.143916 | 0.073287 |
|
||||||
|
| 7 | 7 | 3286 | 4968 | 10.152455 | 12 | 70.484123 | 16.315718 | -13.455399 | -28.008068 | 14.532272 | 31.833994 | J6 | 0.122061 | 0.075811 |
|
||||||
|
| 8 | 8 | 3360 | 4998 | 10.392386 | 10 | 69.575752 | -17.207413 | -8.691541 | -58.617191 | 7.602061 | 64.591766 | J6 | 0.154034 | 0.096014 |
|
||||||
|
| 9 | 9 | 3542 | 5063 | 10.912377 | 10 | 73.584053 | -6.468980 | -9.609648 | -128.917969 | 14.704389 | 140.109039 | J4 | 0.109321 | 0.066535 |
|
||||||
|
| 10 | 10 | 3585 | 5081 | 11.056321 | 10 | 75.474472 | -14.468846 | -7.325953 | -131.159668 | 17.608482 | 142.113190 | J4 | 0.236635 | 0.165806 |
|
||||||
|
| 11 | 11 | 3739 | 5137 | 11.504390 | 10 | 86.261429 | -14.617929 | -13.661033 | -69.765862 | 26.736444 | 88.871201 | J1 | 0.167931 | 0.107930 |
|
||||||
|
| 12 | 12 | 3835 | 5176 | 11.816490 | 10 | 61.744911 | -4.247795 | -9.792937 | -108.367577 | 22.170429 | 118.159653 | J1 | 0.024179 | 0.016111 |
|
||||||
|
| 13 | 13 | 3961 | 5227 | 12.224448 | 12 | 80.019569 | 4.632708 | -15.454964 | -55.831528 | 26.270802 | 52.205910 | J1 | 0.262486 | 0.159680 |
|
||||||
|
| 14 | 14 | 4031 | 5255 | 12.448371 | 10 | 109.016167 | 1.357394 | -33.634285 | -48.365601 | 44.002415 | 85.139641 | J6 | 0.100380 | 0.053296 |
|
||||||
|
| 15 | 15 | 4119 | 5285 | 12.688396 | 10 | 110.607498 | -3.936621 | -32.371201 | -51.189194 | 44.234520 | 87.651657 | J4 | 0.076603 | 0.047511 |
|
||||||
|
| 16 | 16 | 4183 | 5311 | 12.896459 | 10 | 118.107513 | -17.420839 | -31.061703 | -59.539654 | 48.746391 | 94.106598 | J2 | 0.044452 | 0.024439 |
|
||||||
|
| 17 | 18 | 4466 | 5419 | 13.760487 | 12 | 60.277737 | -22.937906 | -10.334841 | 77.472717 | 35.583603 | -69.647720 | J6 | 0.021260 | 0.011799 |
|
||||||
|
|
||||||
|
## 逐点示教差值
|
||||||
|
|
||||||
|
| 触发序号 | waypoint_index | diff_j1(deg) | diff_j2(deg) | diff_j3(deg) | diff_j4(deg) | diff_j5(deg) | diff_j6(deg) |
|
||||||
|
| --- | --- | --- | --- | --- | --- | --- | --- |
|
||||||
|
| 1 | 1 | -0.006920 | 0.038873 | -0.003092 | -0.309197 | 0.005281 | 0.309618 |
|
||||||
|
| 2 | 2 | 0.019390 | -0.002046 | 0.003139 | 0.079235 | 0.002846 | -0.069204 |
|
||||||
|
| 3 | 3 | 0.025347 | 0.024404 | 0.017357 | -0.165506 | -0.041047 | 0.207545 |
|
||||||
|
| 4 | 4 | -0.030420 | 0.049671 | 0.063898 | 0.011967 | -0.159648 | -0.061698 |
|
||||||
|
| 5 | 5 | 0.135085 | 0.132409 | 0.102928 | 0.067162 | -0.198499 | 0.150851 |
|
||||||
|
| 6 | 6 | 0.023314 | 0.143916 | -0.045432 | -0.041509 | 0.003132 | -0.084695 |
|
||||||
|
| 7 | 7 | 0.008286 | -0.078131 | 0.001549 | -0.115749 | -0.003390 | 0.122061 |
|
||||||
|
| 8 | 8 | -0.006712 | -0.101699 | 0.019049 | -0.141497 | -0.028529 | 0.154034 |
|
||||||
|
| 9 | 9 | 0.012794 | -0.039135 | 0.018932 | -0.109321 | 0.033306 | 0.106991 |
|
||||||
|
| 10 | 10 | -0.094914 | 0.210460 | -0.031797 | -0.236635 | -0.079879 | 0.219682 |
|
||||||
|
| 11 | 11 | 0.167931 | -0.119596 | 0.020478 | 0.102434 | -0.006237 | -0.128213 |
|
||||||
|
| 12 | 12 | 0.024179 | -0.015005 | -0.008514 | 0.016506 | 0.009657 | 0.017589 |
|
||||||
|
| 13 | 13 | 0.262486 | -0.007523 | -0.143778 | 0.203785 | 0.137664 | 0.053653 |
|
||||||
|
| 14 | 14 | 0.060616 | -0.013366 | -0.039860 | 0.001760 | 0.039011 | 0.100380 |
|
||||||
|
| 15 | 15 | 0.022650 | -0.075722 | 0.025207 | -0.076603 | 0.005360 | 0.027657 |
|
||||||
|
| 16 | 16 | 0.011561 | -0.044452 | 0.007298 | 0.020885 | 0.013816 | -0.028173 |
|
||||||
|
| 17 | 18 | -0.004746 | 0.000174 | -0.001593 | -0.018925 | 0.000225 | 0.021260 |
|
||||||
|
|
||||||
|
## 说明
|
||||||
|
|
||||||
|
- 本文档只记录“抓包中真实发 IO 的那一帧”的关节坐标。
|
||||||
|
- 如果后续要和旧程序抓包或 `ShotEvents.json` 对比，应继续沿用同一口径：优先比较真实 IO 置位帧，而不是只比较 sample_index。
|
||||||
|
|
||||||
|
## 新旧程序真实触发点逐点对比
|
||||||
|
|
||||||
|
- 新抓包：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/Rvbust/相机触发实际偏差.pcap`
|
||||||
|
- 旧抓包：`D:/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/Rvbust/uttc-20260428/2026042802-1.pcap`
|
||||||
|
- 对比口径：两边都只取真实 IO 置位高电平的第一帧，共 17 次触发。
|
||||||
|
|
||||||
|
### 对比统计
|
||||||
|
|
||||||
|
- 新旧都成功提取到 17 次真实触发。
|
||||||
|
- 平均单点最大单轴关节差：4.185609 deg
|
||||||
|
- 最大单轴关节差：11.338289 deg
|
||||||
|
- 平均 RMS 关节差：2.515726 deg
|
||||||
|
- 平均相对首触发时间漂移：0.220309 s
|
||||||
|
- 最大相对首触发时间漂移：0.432218 s
|
||||||
|
|
||||||
|
### 新旧实际触发记录
|
||||||
|
|
||||||
|
| 触发序号 | 新frame | 新seq | 新相对时间(s) | 新io_mask | 新J1 | 新J2 | 新J3 | 新J4 | 新J5 | 新J6 | 旧frame | 旧seq | 旧相对时间(s) | 旧io_mask | 旧J1 | 旧J2 | 旧J3 | 旧J4 | 旧J5 | 旧J6 | 时间差(s) | 相对首点漂移(s) | 最大差轴 | 最大关节差(deg) | RMS差(deg) |
|
||||||
|
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
|
||||||
|
| 1 | 2445 | 4641 | 7.536586 | 10 | 48.879890 | 2.237859 | -11.024109 | 0.101012 | 6.253663 | 2.604609 | 1955 | 1381124 | 5.888271 | 10 | 45.863270 | 2.972479 | -13.609342 | -2.185114 | 7.582361 | 5.701518 | 1.648315 | 0.000000 | J6 | 3.096909 | 2.341857 |
|
||||||
|
| 2 | 2689 | 4739 | 8.320342 | 14 | 55.367146 | 11.804994 | -7.005956 | -70.935097 | 6.014911 | 74.180328 | 2151 | 1381198 | 6.480252 | 14 | 56.343365 | 11.667239 | -6.600924 | -68.197609 | 6.058437 | 71.539284 | 1.840090 | 0.191775 | J4 | 2.737488 | 1.612807 |
|
||||||
|
| 3 | 2779 | 4769 | 8.560284 | 14 | 55.135155 | 8.783901 | -8.500860 | -41.282757 | 10.067441 | 42.164478 | 2223 | 1381226 | 6.704225 | 14 | 53.508320 | 7.412223 | -9.629740 | -32.305714 | 12.488306 | 30.826189 | 1.856059 | 0.207744 | J6 | 11.338289 | 6.066399 |
|
||||||
|
| 4 | 2882 | 4811 | 8.896328 | 10 | 43.623173 | -1.579988 | -17.651855 | 6.007176 | 32.012070 | -22.635672 | 2336 | 1381269 | 7.048266 | 10 | 44.433006 | -2.115629 | -18.397774 | 4.837199 | 33.993725 | -20.262289 | 1.848062 | 0.199747 | J6 | 2.373383 | 1.439206 |
|
||||||
|
| 5 | 3004 | 4860 | 9.288442 | 10 | 64.717529 | 4.395389 | -15.566289 | -29.885765 | 29.651941 | 45.777378 | 2477 | 1381321 | 7.464289 | 10 | 65.849670 | 5.695003 | -14.563637 | -28.693426 | 27.678612 | 46.437157 | 1.824153 | 0.175838 | J5 | 1.973330 | 1.273254 |
|
||||||
|
| 6 | 3169 | 4921 | 9.776381 | 12 | 60.502796 | 23.212698 | -5.056696 | 36.065346 | 5.528813 | -31.387259 | 2665 | 1381391 | 8.024277 | 12 | 60.847530 | 24.477776 | -5.617044 | 34.804432 | 5.786255 | -31.225348 | 1.752104 | 0.103789 | J2 | 1.265078 | 0.786940 |
|
||||||
|
| 7 | 3286 | 4968 | 10.152455 | 12 | 70.484123 | 16.315718 | -13.455399 | -28.008068 | 14.532272 | 31.833994 | 2811 | 1381447 | 8.472317 | 12 | 70.825050 | 10.952600 | -13.136046 | -34.684597 | 14.022421 | 38.906040 | 1.680138 | 0.031823 | J6 | 7.072046 | 4.542963 |
|
||||||
|
| 8 | 3360 | 4998 | 10.392386 | 10 | 69.575752 | -17.207413 | -8.691541 | -58.617191 | 7.602061 | 64.591766 | 2908 | 1381483 | 8.760361 | 10 | 69.405167 | -20.066782 | -8.152936 | -63.932354 | 6.775912 | 70.377617 | 1.632025 | -0.016290 | J6 | 5.785851 | 3.437653 |
|
||||||
|
| 9 | 3542 | 5063 | 10.912377 | 10 | 73.584053 | -6.468980 | -9.609648 | -128.917969 | 14.704389 | 140.109039 | 3112 | 1381561 | 9.384332 | 10 | 73.905930 | -8.016125 | -9.002426 | -131.332718 | 15.526207 | 142.416687 | 1.528045 | -0.120270 | J4 | 2.414749 | 1.565121 |
|
||||||
|
| 10 | 3585 | 5081 | 11.056321 | 10 | 75.474472 | -14.468846 | -7.325953 | -131.159668 | 17.608482 | 142.113190 | 3170 | 1381583 | 9.560358 | 10 | 76.726883 | -16.518726 | -7.151471 | -127.530037 | 18.537889 | 138.789749 | 1.495963 | -0.152352 | J4 | 3.629631 | 2.268783 |
|
||||||
|
| 11 | 3739 | 5137 | 11.504390 | 10 | 86.261429 | -14.617929 | -13.661033 | -69.765862 | 26.736444 | 88.871201 | 3350 | 1381651 | 10.104322 | 10 | 83.716621 | -13.186573 | -13.738809 | -72.703178 | 26.667589 | 91.984238 | 1.400068 | -0.248247 | J6 | 3.113037 | 2.115595 |
|
||||||
|
| 12 | 3835 | 5176 | 11.816490 | 10 | 61.744911 | -4.247795 | -9.792937 | -108.367577 | 22.170429 | 118.159653 | 3470 | 1381697 | 10.472333 | 10 | 59.789558 | -2.709417 | -8.933828 | -108.248573 | 21.177492 | 114.141106 | 1.344157 | -0.304158 | J6 | 4.018547 | 2.003201 |
|
||||||
|
| 13 | 3961 | 5227 | 12.224448 | 12 | 80.019569 | 4.632708 | -15.454964 | -55.831528 | 26.270802 | 52.205910 | 3627 | 1381756 | 10.944371 | 12 | 86.413292 | 4.266173 | -19.159878 | -52.240280 | 29.853724 | 55.869072 | 1.280077 | -0.368238 | J1 | 6.393723 | 3.955873 |
|
||||||
|
| 14 | 4031 | 5255 | 12.448371 | 10 | 109.016167 | 1.357394 | -33.634285 | -48.365601 | 44.002415 | 85.139641 | 3710 | 1381787 | 11.192339 | 10 | 110.752319 | 0.875189 | -34.756535 | -48.143326 | 45.086559 | 87.974442 | 1.256032 | -0.392283 | J6 | 2.834801 | 1.514764 |
|
||||||
|
| 15 | 4119 | 5285 | 12.688396 | 10 | 110.607498 | -3.936621 | -32.371201 | -51.189194 | 44.234520 | 87.651657 | 3796 | 1381820 | 11.456361 | 10 | 111.791779 | -6.225441 | -31.958988 | -53.685738 | 44.761509 | 89.334549 | 1.232035 | -0.416280 | J4 | 2.496544 | 1.640818 |
|
||||||
|
| 16 | 4183 | 5311 | 12.896459 | 10 | 118.107513 | -17.420839 | -31.061703 | -59.539654 | 48.746391 | 94.106598 | 3870 | 1381848 | 11.680362 | 10 | 117.874741 | -19.607178 | -30.329103 | -56.600250 | 49.086555 | 90.324249 | 1.216097 | -0.432218 | J6 | 3.782349 | 2.176883 |
|
||||||
|
| 17 | 4466 | 5419 | 13.760487 | 12 | 60.277737 | -22.937906 | -10.334841 | 77.472717 | 35.583603 | -69.647720 | 4138 | 1381950 | 12.496365 | 12 | 59.935894 | -21.102140 | -9.684239 | 70.643120 | 32.941307 | -63.348557 | 1.264122 | -0.384193 | J4 | 6.829597 | 4.025228 |
|
||||||
|
|
||||||
|
### 新减旧逐轴关节差
|
||||||
|
|
||||||
|
| 触发序号 | diff_j1(deg) | diff_j2(deg) | diff_j3(deg) | diff_j4(deg) | diff_j5(deg) | diff_j6(deg) |
|
||||||
|
| --- | --- | --- | --- | --- | --- | --- |
|
||||||
|
| 1 | 3.016621 | -0.734620 | 2.585233 | 2.286127 | -1.328699 | -3.096909 |
|
||||||
|
| 2 | -0.976219 | 0.137754 | -0.405033 | -2.737488 | -0.043527 | 2.641045 |
|
||||||
|
| 3 | 1.626835 | 1.371678 | 1.128880 | -8.977043 | -2.420865 | 11.338289 |
|
||||||
|
| 4 | -0.809834 | 0.535641 | 0.745918 | 1.169977 | -1.981655 | -2.373383 |
|
||||||
|
| 5 | -1.132141 | -1.299614 | -1.002652 | -1.192339 | 1.973330 | -0.659779 |
|
||||||
|
| 6 | -0.344734 | -1.265078 | 0.560348 | 1.260914 | -0.257442 | -0.161911 |
|
||||||
|
| 7 | -0.340927 | 5.363118 | -0.319352 | 6.676529 | 0.509851 | -7.072046 |
|
||||||
|
| 8 | 0.170586 | 2.859369 | -0.538605 | 5.315163 | 0.826149 | -5.785851 |
|
||||||
|
| 9 | -0.321877 | 1.547145 | -0.607222 | 2.414749 | -0.821818 | -2.307648 |
|
||||||
|
| 10 | -1.252411 | 2.049880 | -0.174482 | -3.629631 | -0.929407 | 3.323441 |
|
||||||
|
| 11 | 2.544807 | -1.431356 | 0.077776 | 2.937317 | 0.068855 | -3.113037 |
|
||||||
|
| 12 | 1.955353 | -1.538378 | -0.859109 | -0.119003 | 0.992937 | 4.018547 |
|
||||||
|
| 13 | -6.393723 | 0.366534 | 3.704914 | -3.591248 | -3.582922 | -3.663162 |
|
||||||
|
| 14 | -1.736153 | 0.482206 | 1.122250 | -0.222275 | -1.084145 | -2.834801 |
|
||||||
|
| 15 | -1.184280 | 2.288819 | -0.412212 | 2.496544 | -0.526989 | -1.682892 |
|
||||||
|
| 16 | 0.232773 | 2.186338 | -0.732599 | -2.939404 | -0.340164 | 3.782349 |
|
||||||
|
| 17 | 0.341843 | -1.835766 | -0.650601 | 6.829597 | 2.642296 | -6.299164 |
|
||||||
@@ -137,7 +137,7 @@
|
|||||||
- `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。
|
- `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；`10010` 当前现场确认固定 90B。
|
- `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。
|
- `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，而是按 `floor(duration / (0.008 * speed_ratio)) + 1` 形成 J519 运行包。
|
- 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。
|
- 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。
|
- `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。
|
- `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。
|
||||||
|
|||||||
@@ -515,7 +515,7 @@ UploadFlyShotTraj(name, waypoints, shot_flags, offset_values, addrs)
|
|||||||
- `SetSpeedRatio`：`MsgID = 0x2207`
|
- `SetSpeedRatio`：`MsgID = 0x2207`
|
||||||
- `GetIO`：`MsgID = 0x2208`
|
- `GetIO`：`MsgID = 0x2208`
|
||||||
- `SetIO`：`MsgID = 0x2209`
|
- `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。实发规则为 `t_traj = k * 0.008 * speed_ratio`，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
|
- 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：
|
- 飞拍轨迹相关额外字符串线索：
|
||||||
- `StartUploadFlyShotTraj`
|
- `StartUploadFlyShotTraj`
|
||||||
- `EndUploadFlyShotTraj`
|
- `EndUploadFlyShotTraj`
|
||||||
|
|||||||
@@ -53,10 +53,11 @@ POST /set_speedRatio/
|
|||||||
{ "speed": 0.7 }
|
{ "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 执行时仍必须按该倍率重采样轨迹时间轴：
|
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
|
```text
|
||||||
t_traj = k * 0.008 * speed_ratio
|
t_send = k * 0.008
|
||||||
|
t_traj = t_send * speed_ratio
|
||||||
send_count = floor(duration / (0.008 * speed_ratio)) + 1
|
send_count = floor(duration / (0.008 * speed_ratio)) + 1
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|||||||
@@ -120,8 +120,8 @@ FanucCommandProtocol / FanucStateProtocol / FanucJ519Protocol (已有，不改
|
|||||||
执行注意事项：
|
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`。
|
- 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；需要按当前 `speed_ratio` 对轨迹时间轴做缩放，再采样到约 8ms 的 J519 周期。
|
- 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 周期采样 `t_traj = k * 0.008 * 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。
|
- 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。
|
- 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。
|
- 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。
|
||||||
|
|
||||||
@@ -139,7 +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
|
- `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
|
- `DisableRobot()` — 停止 J519，发送 StopProg
|
||||||
- `Disconnect()` — 断开三条通道
|
- `Disconnect()` — 断开三条通道
|
||||||
- `ExecuteTrajectory(result, finalJointPositions)` — 将规划后的稠密路点经 `rad -> deg` 转换，并按 `t_traj = k * 0.008 * speed_ratio` 重采样后，通过 J519 逐周期发送
|
- `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
|
- `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
|
- `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
|
- `GetJointPositions()` / `GetPose()` / `GetTcp()` / `GetSpeedRatio()` / `GetIo()` — 优先从真实通道读取
|
||||||
|
|||||||
@@ -136,7 +136,7 @@
|
|||||||
| --- | --- |
|
| --- | --- |
|
||||||
| 关节格式下发 | 已实现，当前现场链路默认只使用关节格式 |
|
| 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 |
|
| `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，规则为 `t_traj = k * 0.008 * speed_ratio` |
|
| `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` |
|
| 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 `$STMO_GRP` 在线读取，也未实现手册附录中的 20 档速度/负载插值 |
|
| 速度、加速度、jerk 约束 | 规划层有 `acc_limit / jerk_limit` 等兼容参数，但未从 FANUC `$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 |
|
| 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 |
|
||||||
|
|||||||
460
docs/flyshot-speedratio-execution-design-20260509.md
Normal file
460
docs/flyshot-speedratio-execution-design-20260509.md
Normal file
@@ -0,0 +1,460 @@
|
|||||||
|
# 飞拍任务 `speedRatio` 执行侧调速设计
|
||||||
|
|
||||||
|
## 1. 背景
|
||||||
|
|
||||||
|
当前系统同时存在两个速度相关参数：
|
||||||
|
|
||||||
|
- `planning_speed_scale`
|
||||||
|
- 规划阶段参数。
|
||||||
|
- 作用是让规划结果在时长与整体动力学上更接近现场旧系统或当前配置要求。
|
||||||
|
- 启动后固定，不希望在运行中再修改语义。
|
||||||
|
- `speedRatio`
|
||||||
|
- 运行阶段参数。
|
||||||
|
- 期望成为统一在线调速入口。
|
||||||
|
- 本次范围内只要求对“下一次开始执行的飞拍任务”生效，不要求对正在执行中的任务中途热切换。
|
||||||
|
|
||||||
|
本次任务已经明确收敛：
|
||||||
|
|
||||||
|
- 只修改飞拍任务链路。
|
||||||
|
- 不修改 `move_joint`。
|
||||||
|
- 不通过放宽阈值、关闭校验或只看平均速度来规避问题。
|
||||||
|
|
||||||
|
## 2. 现状问题
|
||||||
|
|
||||||
|
当前飞拍执行链路的核心语义是：
|
||||||
|
|
||||||
|
1. 规划层先生成 `DenseJointTrajectory`。
|
||||||
|
2. 运行时保持 `8ms` 物理发送周期不变。
|
||||||
|
3. 对第 `k` 个发送点，按 `trajectoryTime = sendTime * speedRatio` 回映射到规划轨迹时间。
|
||||||
|
4. 再在原始稠密轨迹上做线性插值，得到实际要发的关节目标。
|
||||||
|
5. 最后再用离散差分检查 `vel/acc/jerk`。
|
||||||
|
|
||||||
|
该结构在 `speedRatio < 1` 时有天然风险：
|
||||||
|
|
||||||
|
- 物理发送周期固定为 `8ms`，但轨迹时间推进被压缩。
|
||||||
|
- 线性插值会把规划轨迹中原本“看起来连续”的局部变化映射成新的离散点列。
|
||||||
|
- 这些新点列在三阶后向差分上容易形成尖峰。
|
||||||
|
- 该风险在 `speedRatio = 0.5` 时已经暴露为明显的 Jerk 超限告警。
|
||||||
|
|
||||||
|
问题本质不是“平均速度是否合理”，而是：
|
||||||
|
|
||||||
|
- 最终 `8ms` 发送点列本身没有先被当作一等公民建模。
|
||||||
|
- `speedRatio` 的执行语义落在“发送前临场回采样”阶段。
|
||||||
|
- 离散约束校验发生得太晚，只能报错或事后分析。
|
||||||
|
|
||||||
|
## 3. 目标
|
||||||
|
|
||||||
|
本设计目标如下：
|
||||||
|
|
||||||
|
- 保持 `planning_speed_scale` 只属于规划层。
|
||||||
|
- `speedRatio` 是运行时统一执行倍率，可影响下一次启动的飞拍、普通轨迹和 `MoveJoint`。
|
||||||
|
- 飞拍链路在任意有效 `speedRatio` 下，最终真实发送的 `8ms` 点列必须满足逐周期 `vel/acc/jerk` 约束。
|
||||||
|
- 不依赖“插值后自然会平滑”的经验假设。
|
||||||
|
- 当请求 `speedRatio` 下的最终发送队列不满足约束时，拒绝执行并输出超限诊断；不在执行侧偷偷改写本次请求倍率。
|
||||||
|
- 不破坏现有 `shot timeline / sample offset` 语义。
|
||||||
|
- `speedRatio = 1.0` 时行为应与当前基线一致或可解释等价。
|
||||||
|
|
||||||
|
## 4. 非目标
|
||||||
|
|
||||||
|
本次设计明确不包含以下内容：
|
||||||
|
|
||||||
|
- 不恢复旧的发送阶段临场回采样机制；普通轨迹和 `MoveJoint` 允许把 `speedRatio` 前移到规划或临时轨迹生成阶段折算。
|
||||||
|
- 不讨论 GUI、多机器人或旧 `50001/TCP+JSON` 网关恢复。
|
||||||
|
- 不修改 `planning_speed_scale` 的含义。
|
||||||
|
- 不在任务执行中途支持 `speedRatio` 热切换。
|
||||||
|
- 不通过调大容差、降低限值检查强度或直接跳过 Jerk 检查来“解决问题”。
|
||||||
|
|
||||||
|
## 5. 设计总览
|
||||||
|
|
||||||
|
飞拍执行链路调整为“两段式”：
|
||||||
|
|
||||||
|
1. 规划段
|
||||||
|
- 维持当前实现。
|
||||||
|
- 仍由 `planning_speed_scale` 参与规划时长和规划层轨迹生成。
|
||||||
|
- 输出 `TrajectoryResult.DenseJointTrajectory`、`TriggerTimeline`、`ShotEvents` 等规划结果。
|
||||||
|
2. 执行准备段
|
||||||
|
- 新增“飞拍执行侧最终发送序列生成器”。
|
||||||
|
- 输入规划层稠密轨迹、执行时读取到的 `speedRatio`、机器人关节限位和触发时间轴。
|
||||||
|
- 生成最终 `8ms` 发送队列。
|
||||||
|
- 对最终队列做逐周期 `vel/acc/jerk` 校验。
|
||||||
|
- 如果不通过，则拒绝执行，提示降低 `planning_speed_scale` 重新规划或显式设置更低的 `speedRatio`。
|
||||||
|
3. 发送段
|
||||||
|
- 运行时只消费已经准备好的最终 `8ms` 队列。
|
||||||
|
- 运行时不再根据 `speedRatio` 对 `DenseJointTrajectory` 临场做线性回采样。
|
||||||
|
|
||||||
|
核心变化是：
|
||||||
|
|
||||||
|
- `speedRatio` 不再直接驱动“发送前临场插值”。
|
||||||
|
- `speedRatio` 改为驱动“执行侧最终队列构建”。
|
||||||
|
- 最终队列一旦生成并校验通过，运行时只负责按 J519 状态包节奏出队发送。
|
||||||
|
|
||||||
|
## 6. 统一语义
|
||||||
|
|
||||||
|
本次以飞拍任务为主线，但 `speedRatio` 允许作为运行时统一执行倍率影响普通轨迹和 `MoveJoint`，需要把三类入口的边界说清楚，避免再次混淆规划倍率和执行倍率。
|
||||||
|
|
||||||
|
### 6.1 `planning_speed_scale`
|
||||||
|
|
||||||
|
- 只影响规划结果。
|
||||||
|
- 影响 `DenseJointTrajectory` 的时间轴与规划层速度/加速度/Jerk 使用方式。
|
||||||
|
- 飞拍开始执行前就已经固定。
|
||||||
|
- 在线设置 `speedRatio` 时不应反向修改它。
|
||||||
|
|
||||||
|
### 6.2 `speedRatio`
|
||||||
|
|
||||||
|
- 影响下一次启动的运动任务，不在任务执行中途热切换。
|
||||||
|
- 对飞拍任务，表示用户期望的执行层时间推进速度，可前移到规划/执行准备阶段生成最终发送队列。
|
||||||
|
- 对普通轨迹和 `MoveJoint`，允许在规划或临时 PTP 轨迹生成阶段折算进有效关节限位，使运行时只消费已经生成好的 `8ms` 稠密点列。
|
||||||
|
- `speedRatio = 0.8` 表示执行节奏接近把同几何轨迹时间轴整体拉长 `1 / 0.8`。
|
||||||
|
- 例如 `planning_speed_scale = 0.9` 且 `speedRatio = 0.8` 时，最终执行节奏应接近同几何轨迹在 `planning_speed_scale ≈ 0.72` 下的结果。
|
||||||
|
|
||||||
|
也就是说：
|
||||||
|
|
||||||
|
- `speedRatio` 是确定的执行倍率，不是校验失败后的自动搜索变量。
|
||||||
|
- `finalSpeedRatio` 正常必须等于请求值。
|
||||||
|
- 若该倍率下最终队列超限，问题暴露给调用方，而不是由执行侧自动改成另一个倍率。
|
||||||
|
|
||||||
|
## 7. 最终发送序列生成
|
||||||
|
|
||||||
|
### 7.1 新增执行侧生成器
|
||||||
|
|
||||||
|
建议新增一个飞拍专用生成器，命名可类似：
|
||||||
|
|
||||||
|
- `FlyshotExecutionSendSequenceBuilder`
|
||||||
|
- 或 `FlyshotExecutionQueueBuilder`
|
||||||
|
|
||||||
|
职责：
|
||||||
|
|
||||||
|
- 输入规划层连续 `PlannedTrajectory`，优先使用经过执行侧定时处理后的 `ExecutionTrajectory`。
|
||||||
|
- 输入 `servoPeriodSeconds`、`speedRatio`。
|
||||||
|
- 输出最终真实发送的 `8ms` 点列。
|
||||||
|
- 输出与该点列一致的触发绑定结果。
|
||||||
|
- 输出请求倍率、最终倍率和历史倍率改写次数等诊断信息；当前语义下最终倍率等于请求倍率、改写次数为 0。
|
||||||
|
|
||||||
|
### 7.2 最终请求倍率队列
|
||||||
|
|
||||||
|
最终队列按固定时间轴语义生成：
|
||||||
|
|
||||||
|
- `sendTime = sampleIndex * 0.008`
|
||||||
|
- `trajectoryTime = min(sendTime * speedRatio, durationSeconds)`
|
||||||
|
- 关节目标从连续样条直接取点，并从 `rad` 转为 J519 需要的 `deg`
|
||||||
|
|
||||||
|
该队列就是本次请求倍率下的最终发送队列，后续只做校验和触发绑定，不再进行二次滤波或倍率搜索。
|
||||||
|
|
||||||
|
### 7.3 校验失败策略
|
||||||
|
|
||||||
|
当最终队列的离散 `vel/acc/jerk` 校验失败时：
|
||||||
|
|
||||||
|
- 不修改规划层轨迹。
|
||||||
|
- 不修改 `planning_speed_scale`。
|
||||||
|
- 不放宽校验阈值。
|
||||||
|
- 不降低本次 `speedRatio`。
|
||||||
|
- 直接拒绝执行并保留首个超限诊断。
|
||||||
|
|
||||||
|
这样可以避免把 `speedRatio` 误实现成安全优化器。现场若希望从 `planning_speed_scale = 0.9` 的 10s 轨迹降到接近 `planning_speed_scale = 0.7` 的执行效果，应显式设置类似 `speedRatio = 0.8`，而不是让系统在失败后自动猜一个更低倍率。
|
||||||
|
|
||||||
|
## 8. 逐周期约束校验
|
||||||
|
|
||||||
|
最终发送队列必须在执行前通过离散检查。
|
||||||
|
|
||||||
|
### 8.1 校验对象
|
||||||
|
|
||||||
|
校验对象必须是最终真实发送的 `8ms` 点列，而不是：
|
||||||
|
|
||||||
|
- 规划层原始稠密轨迹，
|
||||||
|
- 中间候选插值轨迹，
|
||||||
|
- 或平均时长推导。
|
||||||
|
|
||||||
|
### 8.2 校验指标
|
||||||
|
|
||||||
|
保留现有逐周期离散差分口径：
|
||||||
|
|
||||||
|
- 速度
|
||||||
|
- 加速度
|
||||||
|
- Jerk
|
||||||
|
|
||||||
|
并继续使用当前机器人模型和运行时限值：
|
||||||
|
|
||||||
|
- `velocity_eff = velocity_base`
|
||||||
|
- `acceleration_eff = acceleration_base * acc_limit`
|
||||||
|
- `jerk_eff = jerk_base * jerk_limit`
|
||||||
|
|
||||||
|
### 8.3 校验失败的处理
|
||||||
|
|
||||||
|
飞拍链路按当前修正语义采用“确定倍率 + 失败拒绝”：
|
||||||
|
|
||||||
|
- 若请求倍率下失败，立即拒绝执行。
|
||||||
|
- 不进行执行侧自动倍率搜索。
|
||||||
|
- 调用方可以选择降低 `planning_speed_scale` 重新规划，或显式设置更低的 `speedRatio` 后再次执行。
|
||||||
|
|
||||||
|
拒绝执行时必须输出：
|
||||||
|
|
||||||
|
- 首次失败的轴
|
||||||
|
- 时间窗
|
||||||
|
- 指标类型
|
||||||
|
- `actual / limit / ratio`
|
||||||
|
- 请求 `speedRatio`
|
||||||
|
- 当前 `finalSpeedRatio`，正常等于请求值
|
||||||
|
|
||||||
|
## 9. 触发时序与绑定
|
||||||
|
|
||||||
|
### 9.1 保持现有语义
|
||||||
|
|
||||||
|
以下语义不变：
|
||||||
|
|
||||||
|
- `TriggerTimeline`
|
||||||
|
- `ShotEvents`
|
||||||
|
- `TriggerSampleIndexOffsetCycles`
|
||||||
|
- `io_keep_cycles`
|
||||||
|
|
||||||
|
### 9.2 绑定对象改为最终发送队列
|
||||||
|
|
||||||
|
当前实现中，触发通常绑定到由回采样生成的 `samples`。
|
||||||
|
|
||||||
|
本次改为：
|
||||||
|
|
||||||
|
- 先生成最终发送队列。
|
||||||
|
- 再用该最终队列做 `TriggerSampleBinder.Bind(...)`。
|
||||||
|
|
||||||
|
这样可以保证：
|
||||||
|
|
||||||
|
- 触发绑定和真实发送完全一致。
|
||||||
|
- 导出工件中的 `ShotEvents.json` 与真实执行时序一致。
|
||||||
|
- 触发点可被精确追溯到本次请求倍率下的最终发送点索引。
|
||||||
|
|
||||||
|
### 9.3 关于触发数量与顺序
|
||||||
|
|
||||||
|
请求倍率改变最终发送时长时：
|
||||||
|
|
||||||
|
- 触发数量不能变。
|
||||||
|
- 触发顺序不能变。
|
||||||
|
- 触发在最终发送队列中的绑定索引应随时间轴拉长后移或保持可解释等价。
|
||||||
|
|
||||||
|
## 10. 运行时职责调整
|
||||||
|
|
||||||
|
本次需要显式收紧 `FanucControllerRuntime` 的职责。
|
||||||
|
|
||||||
|
### 10.1 改造前
|
||||||
|
|
||||||
|
`FanucControllerRuntime.SendDenseTrajectory(...)` 当前同时负责：
|
||||||
|
|
||||||
|
- 读取 `DenseJointTrajectory`
|
||||||
|
- 根据 `_speedRatio` 回采样
|
||||||
|
- 绑定触发
|
||||||
|
- 生成命令队列
|
||||||
|
- 写出 `ActualSend*` 工件
|
||||||
|
|
||||||
|
### 10.2 改造后
|
||||||
|
|
||||||
|
`FanucControllerRuntime` 只负责：
|
||||||
|
|
||||||
|
- 接收已经准备好的最终发送队列
|
||||||
|
- 接收与该队列一致的触发绑定结果
|
||||||
|
- 预构建命令队列并交给 J519 客户端
|
||||||
|
- 记录真实发送过程与导出工件
|
||||||
|
|
||||||
|
不再负责：
|
||||||
|
|
||||||
|
- 按 `_speedRatio` 从 `DenseJointTrajectory` 临场生成发送点
|
||||||
|
|
||||||
|
这样做的目的是让：
|
||||||
|
|
||||||
|
- 运行时负责发送。
|
||||||
|
- 执行准备层负责离散稳定性。
|
||||||
|
|
||||||
|
两层边界更清晰，也更利于测试。
|
||||||
|
|
||||||
|
## 11. 导出工件与日志
|
||||||
|
|
||||||
|
### 11.1 旧规划导出和实发诊断必须分开
|
||||||
|
|
||||||
|
`saveTrajectory` 目录中存在两类不同用途的文件，不能再混成同一条时间轴：
|
||||||
|
|
||||||
|
第一类是旧格式规划导出，用于和旧 RVBUST 导出的规划轨迹、离线分析脚本做对比。它们只受 `planning_speed_scale` 和规划/整形参数影响，不受运行时 `speedRatio` 影响：
|
||||||
|
|
||||||
|
- `JointTraj.txt`
|
||||||
|
- `JointDetialTraj.txt`
|
||||||
|
- `CartTraj.txt`
|
||||||
|
- `CartDetialTraj.txt`
|
||||||
|
- `JointDetialTraj.analysis.txt`
|
||||||
|
|
||||||
|
第二类是实发诊断，用于观察当前 `speedRatio` 下真实准备发送的 8ms 队列和触发绑定。它们必须全部从最终发送队列生成：
|
||||||
|
|
||||||
|
- `ActualSendJointTraj.txt`
|
||||||
|
- `ActualSendTiming.txt`
|
||||||
|
- `ActualSendJerkStats.txt`
|
||||||
|
- `ShotEvents.json`
|
||||||
|
|
||||||
|
不允许再出现：
|
||||||
|
|
||||||
|
- 旧规划导出被运行时 `speedRatio` 改写，
|
||||||
|
- `ActualSend*` 基于一套样本，
|
||||||
|
- 真实发送队列又基于另一套样本。
|
||||||
|
|
||||||
|
### 11.2 推荐新增日志字段
|
||||||
|
|
||||||
|
每次飞拍执行建议至少记录：
|
||||||
|
|
||||||
|
- 请求 `speedRatio`
|
||||||
|
- 规划层轨迹时长
|
||||||
|
- 最终发送队列点数
|
||||||
|
- 最终发送队列是否通过校验
|
||||||
|
- 若失败，首个失败窗口的：
|
||||||
|
- 关节轴
|
||||||
|
- 时间区间
|
||||||
|
- 指标类型
|
||||||
|
- `actual`
|
||||||
|
- `limit`
|
||||||
|
- `ratio`
|
||||||
|
- 倍率改写次数，当前正常为 0
|
||||||
|
- 最终采用的执行时长
|
||||||
|
- 最终发送队列点数
|
||||||
|
- 最终触发绑定数量
|
||||||
|
- 最终校验通过结论
|
||||||
|
|
||||||
|
### 11.3 日志级别建议
|
||||||
|
|
||||||
|
- `Information`
|
||||||
|
- 记录执行请求、最终采用结果、最终通过结论
|
||||||
|
- `Warning`
|
||||||
|
- 记录请求倍率下最终发送队列校验失败
|
||||||
|
- `Debug`
|
||||||
|
- 记录最终发送队列的时间映射与详细差分统计
|
||||||
|
|
||||||
|
## 12. 验收口径
|
||||||
|
|
||||||
|
### 12.1 功能验收
|
||||||
|
|
||||||
|
- `speedRatio` 可在线设置。
|
||||||
|
- 该值对下一次启动的飞拍、普通轨迹或 `MoveJoint` 生效。
|
||||||
|
- 不需要修改 `planning_speed_scale`。
|
||||||
|
|
||||||
|
### 12.2 约束验收
|
||||||
|
|
||||||
|
在 `speedRatio = {1.0, 0.8, 0.5}` 下：
|
||||||
|
|
||||||
|
- 最终发送队列逐周期 `vel/acc/jerk` 不超限。
|
||||||
|
- 不出现固定区间正负交替的大幅 Jerk 尖峰。
|
||||||
|
|
||||||
|
### 12.3 工件与日志验收
|
||||||
|
|
||||||
|
- `JointTraj.txt / JointDetialTraj.txt / CartTraj.txt / CartDetialTraj.txt` 不随运行时 `speedRatio` 改变。
|
||||||
|
- `ActualSend*` 文件能反映最终真实发送点位与时间映射。
|
||||||
|
- 日志能定位请求倍率、最终发送队列和校验失败窗口。
|
||||||
|
|
||||||
|
### 12.4 回归验收
|
||||||
|
|
||||||
|
- `speedRatio = 1.0` 时不退化。
|
||||||
|
- 触发事件数量不异常漂移。
|
||||||
|
- 触发绑定顺序不异常漂移。
|
||||||
|
|
||||||
|
## 13. 测试方案
|
||||||
|
|
||||||
|
### 13.1 单元测试
|
||||||
|
|
||||||
|
建议新增：
|
||||||
|
|
||||||
|
- 飞拍执行侧最终发送序列生成器测试
|
||||||
|
- `speedRatio` 非法边界值测试
|
||||||
|
- 请求倍率下队列超限时拒绝执行测试
|
||||||
|
- `speedRatio = 1.0 / 0.8 / 0.5` 的逐周期限值通过测试
|
||||||
|
- `planning_speed_scale = 0.9` 加 `speedRatio = 0.8` 的执行时间轴等价于约 `0.72` 规划倍率的回归测试
|
||||||
|
- 普通轨迹和 `MoveJoint` 在倍率乘积相同时生成等价或可解释等价的稠密执行轨迹
|
||||||
|
- 触发绑定始终与最终发送队列一致的测试
|
||||||
|
|
||||||
|
### 13.2 编排测试
|
||||||
|
|
||||||
|
建议补充：
|
||||||
|
|
||||||
|
- `ExecuteFlyShotTraj` 进入运行时前，已经拿到最终发送队列
|
||||||
|
- `FanucControllerRuntime` 不再自行按 `_speedRatio` 对飞拍轨迹回采样
|
||||||
|
- `ExecuteTrajectory` 和 `MoveJoint` 的调速在规划/生成阶段完成，运行时不再做临场倍率重采样
|
||||||
|
- `SaveTrajectoryInfo` 的旧格式规划导出不随运行时 `speedRatio` 改变，而 `ActualSend*` 仍随运行时 `speedRatio` 改变
|
||||||
|
|
||||||
|
### 13.3 集成与黄金样本
|
||||||
|
|
||||||
|
建议至少覆盖：
|
||||||
|
|
||||||
|
- `UTTC_MS11`
|
||||||
|
- `speedRatio = 1.0`
|
||||||
|
- `speedRatio = 0.8`
|
||||||
|
- `speedRatio = 0.5`
|
||||||
|
|
||||||
|
检查项：
|
||||||
|
|
||||||
|
- 最终发送点数
|
||||||
|
- 最终发送时长
|
||||||
|
- `ActualSendTiming`
|
||||||
|
- `ActualSendJointTraj`
|
||||||
|
- `ActualSendJerkStats`
|
||||||
|
- `ShotEvents` 绑定结果
|
||||||
|
- 是否消除当前已知 Jerk 尖峰
|
||||||
|
|
||||||
|
## 14. 代码落点建议
|
||||||
|
|
||||||
|
建议实现边界如下：
|
||||||
|
|
||||||
|
### 14.1 `src/Flyshot.Core.Planning/Sampling/`
|
||||||
|
|
||||||
|
新增飞拍执行侧最终发送序列生成器及相关结果类型，负责：
|
||||||
|
|
||||||
|
- 候选队列构建
|
||||||
|
- 离散校验
|
||||||
|
- 触发绑定输入准备
|
||||||
|
|
||||||
|
### 14.2 `src/Flyshot.ControllerClientCompat/`
|
||||||
|
|
||||||
|
在飞拍执行准备阶段调用该生成器，把最终发送队列放入执行结果或新的执行上下文对象。
|
||||||
|
普通轨迹规划入口和 `MoveJoint` 临时轨迹生成入口可以读取当前 `speedRatio`，并在进入运行时前折算成已调速的稠密轨迹。
|
||||||
|
|
||||||
|
### 14.3 `src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs`
|
||||||
|
|
||||||
|
调整 `SendDenseTrajectory(...)`：
|
||||||
|
|
||||||
|
- 不再自行根据 `_speedRatio` 从 `DenseJointTrajectory` 临场重采样
|
||||||
|
- 直接消费已经构建好的最终发送队列
|
||||||
|
|
||||||
|
### 14.4 `src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs`
|
||||||
|
|
||||||
|
`FlyshotTrajectoryArtifactWriter` 接收两份视图：
|
||||||
|
|
||||||
|
- 旧格式规划导出视图：写 `JointTraj.txt`、`JointDetialTraj.txt`、`CartTraj.txt`、`CartDetialTraj.txt`
|
||||||
|
- 实发诊断视图：写 `ActualSendJointTraj.txt`、`ActualSendTiming.txt`、`ActualSendJerkStats.txt`、`ShotEvents.json`
|
||||||
|
|
||||||
|
### 14.5 `tests/Flyshot.Core.Tests/`
|
||||||
|
|
||||||
|
补飞拍专项单测、UTTC 回归和工件一致性测试。
|
||||||
|
|
||||||
|
## 15. 风险与注意事项
|
||||||
|
|
||||||
|
### 15.1 不能把 speedRatio 做成安全优化器
|
||||||
|
|
||||||
|
对外语义必须保持：
|
||||||
|
|
||||||
|
- 用户请求的是某个 `speedRatio`
|
||||||
|
- 系统按这个 `speedRatio` 构建最终发送队列
|
||||||
|
- 若队列超限，则拒绝执行并要求调用方显式选择新的规划倍率或执行倍率
|
||||||
|
|
||||||
|
不能因为校验失败就在执行侧自动把 `0.8` 改成 `0.2`；这会让 `speedRatio` 和 `planning_speed_scale` 的关系失去可解释性。
|
||||||
|
|
||||||
|
### 15.2 不能让触发绑定脱离最终队列
|
||||||
|
|
||||||
|
只要最终发送点数变化，触发绑定就必须重新基于最终队列计算，否则工件与执行会再次分叉。
|
||||||
|
|
||||||
|
### 15.3 `speedRatio = 1.0` 必须优先做回归保护
|
||||||
|
|
||||||
|
这是最容易被“执行侧重构”误伤的路径，必须作为首要回归项。
|
||||||
|
|
||||||
|
## 16. 结论
|
||||||
|
|
||||||
|
本次飞拍调速设计的核心结论是：
|
||||||
|
|
||||||
|
- `planning_speed_scale` 继续只属于规划层。
|
||||||
|
- `speedRatio` 是运行时统一执行倍率，并且只对下一次启动的运动任务生效。
|
||||||
|
- 普通轨迹和 `MoveJoint` 允许把 `speedRatio` 前移到规划或临时轨迹生成阶段，运行时只发送已生成好的 `8ms` 点列。
|
||||||
|
- 飞拍执行必须先生成最终 `8ms` 发送队列，再对该队列做逐周期 `vel/acc/jerk` 校验。
|
||||||
|
- `speedRatio` 按 `trajectoryTime = sendTime * speedRatio` 确定性拉长执行时间轴，`finalSpeedRatio` 不应被自动改写。
|
||||||
|
- 若请求倍率下最终队列不满足约束，则拒绝执行并提示降低 `planning_speed_scale` 重新规划或显式设置更低 `speedRatio`。
|
||||||
|
- 运行时不再对飞拍轨迹做发送前临场回采样。
|
||||||
|
- 旧格式规划导出必须保持不受运行时 `speedRatio` 影响；`ActualSend*` 和 `ShotEvents.json` 必须统一到真实发送队列上。
|
||||||
|
|
||||||
|
该方案可以在不放宽校验阈值、不中断现有触发语义的前提下，把 `speedRatio` 调速从“发送阶段经验插值”收敛为“规划/准备阶段完成、运行时确定发送”的执行机制。
|
||||||
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
|
||||||
@@ -576,7 +576,8 @@ eol9_eau_90.json SHA256=7F854AA227D842CAE734AFA378FEEFA742D797F99FBE53
|
|||||||
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：
|
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
|
```text
|
||||||
t_traj = k * 0.008 * speed_ratio
|
t_send = k * 0.008
|
||||||
|
t_traj = t_send * speed_ratio
|
||||||
```
|
```
|
||||||
|
|
||||||
从已生成轨迹中重采样。
|
从已生成轨迹中重采样。
|
||||||
|
|||||||
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
|
||||||
657
docs/status-jog-joystick-demo.html
Normal file
657
docs/status-jog-joystick-demo.html
Normal file
@@ -0,0 +1,657 @@
|
|||||||
|
<!doctype html>
|
||||||
|
<html lang="zh-CN">
|
||||||
|
<head>
|
||||||
|
<meta charset="utf-8">
|
||||||
|
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||||
|
<title>状态页摇杆点动 Demo</title>
|
||||||
|
<style>
|
||||||
|
:root {
|
||||||
|
color-scheme: light;
|
||||||
|
--bg: #f5f7fb;
|
||||||
|
--surface: #ffffff;
|
||||||
|
--line: #d8dee9;
|
||||||
|
--text: #172033;
|
||||||
|
--muted: #5b667a;
|
||||||
|
--accent: #007c89;
|
||||||
|
--accent-dark: #005d67;
|
||||||
|
--steel: #2f3b4f;
|
||||||
|
--steel-soft: #e7ebf1;
|
||||||
|
--good: #12805c;
|
||||||
|
--warn: #b7791f;
|
||||||
|
}
|
||||||
|
|
||||||
|
* {
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
.status-pill {
|
||||||
|
display: inline-flex;
|
||||||
|
align-items: center;
|
||||||
|
gap: 8px;
|
||||||
|
min-height: 36px;
|
||||||
|
padding: 0 12px;
|
||||||
|
border: 1px solid rgba(18, 128, 92, 0.28);
|
||||||
|
border-radius: 999px;
|
||||||
|
background: rgba(18, 128, 92, 0.08);
|
||||||
|
color: var(--good);
|
||||||
|
font-weight: 650;
|
||||||
|
}
|
||||||
|
|
||||||
|
.dot {
|
||||||
|
width: 10px;
|
||||||
|
height: 10px;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: var(--good);
|
||||||
|
}
|
||||||
|
|
||||||
|
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,
|
||||||
|
.panel {
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
.panel h2 {
|
||||||
|
margin: 0;
|
||||||
|
padding: 14px 16px;
|
||||||
|
border-bottom: 1px solid var(--line);
|
||||||
|
font-size: 16px;
|
||||||
|
font-weight: 650;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-panel {
|
||||||
|
overflow: hidden;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-body {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: minmax(0, 1fr) minmax(0, 1fr);
|
||||||
|
gap: 18px;
|
||||||
|
padding: 16px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-toolbar {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: repeat(2, minmax(180px, 1fr)) minmax(220px, 1fr);
|
||||||
|
gap: 12px;
|
||||||
|
padding: 16px;
|
||||||
|
border-bottom: 1px solid var(--line);
|
||||||
|
background: #fbfcfe;
|
||||||
|
}
|
||||||
|
|
||||||
|
.step-field {
|
||||||
|
display: grid;
|
||||||
|
gap: 6px;
|
||||||
|
color: var(--muted);
|
||||||
|
font-size: 13px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.step-field input {
|
||||||
|
min-height: 38px;
|
||||||
|
width: 100%;
|
||||||
|
padding: 0 10px;
|
||||||
|
border: 1px solid var(--line);
|
||||||
|
border-radius: 6px;
|
||||||
|
background: #ffffff;
|
||||||
|
color: var(--text);
|
||||||
|
font: inherit;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-readout {
|
||||||
|
display: flex;
|
||||||
|
align-items: center;
|
||||||
|
justify-content: flex-end;
|
||||||
|
min-height: 38px;
|
||||||
|
color: var(--muted);
|
||||||
|
font-family: Consolas, "Cascadia Mono", monospace;
|
||||||
|
text-align: right;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-card {
|
||||||
|
min-width: 0;
|
||||||
|
border: 1px solid #ccd4df;
|
||||||
|
border-radius: 8px;
|
||||||
|
background: linear-gradient(180deg, #ffffff 0%, #f3f6fa 100%);
|
||||||
|
box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.9);
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-head {
|
||||||
|
display: flex;
|
||||||
|
align-items: center;
|
||||||
|
justify-content: space-between;
|
||||||
|
gap: 12px;
|
||||||
|
padding: 14px 16px 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-title {
|
||||||
|
margin: 0;
|
||||||
|
font-size: 16px;
|
||||||
|
font-weight: 650;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-unit {
|
||||||
|
color: var(--muted);
|
||||||
|
font-size: 13px;
|
||||||
|
font-family: Consolas, "Cascadia Mono", monospace;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-console {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: 72px 1fr 72px;
|
||||||
|
grid-template-rows: 72px 72px 72px;
|
||||||
|
gap: 8px;
|
||||||
|
width: min(100%, 344px);
|
||||||
|
margin: 18px auto 16px;
|
||||||
|
padding: 14px;
|
||||||
|
border: 1px solid #c2cad7;
|
||||||
|
border-radius: 999px;
|
||||||
|
background:
|
||||||
|
radial-gradient(circle at 50% 50%, #ffffff 0 26%, #e6ebf2 27% 48%, #cdd5e0 49% 50%, #edf1f6 51% 100%);
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button {
|
||||||
|
min-width: 0;
|
||||||
|
min-height: 64px;
|
||||||
|
border: 1px solid #99a8ba;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: linear-gradient(180deg, #ffffff 0%, #e5ebf2 100%);
|
||||||
|
color: var(--steel);
|
||||||
|
font: inherit;
|
||||||
|
font-weight: 750;
|
||||||
|
cursor: pointer;
|
||||||
|
touch-action: none;
|
||||||
|
user-select: none;
|
||||||
|
box-shadow: 0 2px 0 #b7c1ce;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button:hover,
|
||||||
|
.axis-button.active {
|
||||||
|
border-color: var(--accent);
|
||||||
|
background: linear-gradient(180deg, #10a4b3 0%, var(--accent) 100%);
|
||||||
|
color: #ffffff;
|
||||||
|
box-shadow: 0 2px 0 var(--accent-dark);
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button:focus-visible {
|
||||||
|
outline: 3px solid rgba(0, 124, 137, 0.3);
|
||||||
|
outline-offset: 2px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.up {
|
||||||
|
grid-column: 2;
|
||||||
|
grid-row: 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.left {
|
||||||
|
grid-column: 1;
|
||||||
|
grid-row: 2;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.right {
|
||||||
|
grid-column: 3;
|
||||||
|
grid-row: 2;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.down {
|
||||||
|
grid-column: 2;
|
||||||
|
grid-row: 3;
|
||||||
|
}
|
||||||
|
|
||||||
|
.center-stack {
|
||||||
|
display: grid;
|
||||||
|
grid-column: 2;
|
||||||
|
grid-row: 2;
|
||||||
|
grid-template-columns: 1fr 1fr;
|
||||||
|
gap: 6px;
|
||||||
|
place-items: center;
|
||||||
|
padding: 8px;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: rgba(47, 59, 79, 0.08);
|
||||||
|
}
|
||||||
|
|
||||||
|
.mini-button {
|
||||||
|
min-width: 44px;
|
||||||
|
min-height: 44px;
|
||||||
|
border: 1px solid #99a8ba;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: var(--surface);
|
||||||
|
color: var(--steel);
|
||||||
|
font: inherit;
|
||||||
|
font-weight: 750;
|
||||||
|
cursor: pointer;
|
||||||
|
touch-action: none;
|
||||||
|
user-select: none;
|
||||||
|
}
|
||||||
|
|
||||||
|
.mini-button:hover,
|
||||||
|
.mini-button.active {
|
||||||
|
border-color: var(--warn);
|
||||||
|
background: #b7791f;
|
||||||
|
color: #ffffff;
|
||||||
|
}
|
||||||
|
|
||||||
|
.hint-row {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: repeat(3, minmax(0, 1fr));
|
||||||
|
gap: 8px;
|
||||||
|
padding: 0 16px 16px;
|
||||||
|
color: var(--muted);
|
||||||
|
font-size: 13px;
|
||||||
|
text-align: center;
|
||||||
|
}
|
||||||
|
|
||||||
|
.hint-row span {
|
||||||
|
min-height: 28px;
|
||||||
|
padding: 5px 8px;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: var(--steel-soft);
|
||||||
|
white-space: nowrap;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-panel {
|
||||||
|
margin-top: 16px;
|
||||||
|
overflow: hidden;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-head {
|
||||||
|
display: flex;
|
||||||
|
align-items: center;
|
||||||
|
justify-content: space-between;
|
||||||
|
gap: 12px;
|
||||||
|
padding: 14px 16px;
|
||||||
|
border-bottom: 1px solid var(--line);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-head h2 {
|
||||||
|
margin: 0;
|
||||||
|
padding: 0;
|
||||||
|
border-bottom: 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
.clear-button {
|
||||||
|
min-height: 34px;
|
||||||
|
padding: 0 12px;
|
||||||
|
border: 1px solid var(--line);
|
||||||
|
border-radius: 6px;
|
||||||
|
background: #ffffff;
|
||||||
|
color: var(--muted);
|
||||||
|
font: inherit;
|
||||||
|
cursor: pointer;
|
||||||
|
}
|
||||||
|
|
||||||
|
.clear-button:hover {
|
||||||
|
border-color: var(--accent);
|
||||||
|
color: var(--accent);
|
||||||
|
}
|
||||||
|
|
||||||
|
.request-log {
|
||||||
|
display: grid;
|
||||||
|
gap: 8px;
|
||||||
|
max-height: 300px;
|
||||||
|
margin: 0;
|
||||||
|
padding: 12px 16px 16px;
|
||||||
|
overflow: auto;
|
||||||
|
background: #fbfcfe;
|
||||||
|
font-family: Consolas, "Cascadia Mono", monospace;
|
||||||
|
font-size: 13px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: 86px 96px minmax(0, 1fr);
|
||||||
|
gap: 10px;
|
||||||
|
align-items: start;
|
||||||
|
padding: 9px 10px;
|
||||||
|
border: 1px solid #e1e7ef;
|
||||||
|
border-radius: 6px;
|
||||||
|
background: #ffffff;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry:first-child {
|
||||||
|
border-color: rgba(0, 124, 137, 0.35);
|
||||||
|
background: rgba(0, 124, 137, 0.04);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-time,
|
||||||
|
.log-axis {
|
||||||
|
color: var(--muted);
|
||||||
|
white-space: nowrap;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-payload {
|
||||||
|
overflow-wrap: anywhere;
|
||||||
|
color: var(--text);
|
||||||
|
}
|
||||||
|
|
||||||
|
@media (max-width: 920px) {
|
||||||
|
.summary,
|
||||||
|
.jog-body,
|
||||||
|
.jog-toolbar {
|
||||||
|
grid-template-columns: 1fr;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-readout {
|
||||||
|
justify-content: flex-start;
|
||||||
|
text-align: left;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
@media (max-width: 520px) {
|
||||||
|
.topbar {
|
||||||
|
align-items: flex-start;
|
||||||
|
flex-direction: column;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-console {
|
||||||
|
grid-template-columns: 60px 1fr 60px;
|
||||||
|
grid-template-rows: 60px 60px 60px;
|
||||||
|
padding: 10px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button {
|
||||||
|
min-height: 56px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry {
|
||||||
|
grid-template-columns: 1fr;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
</style>
|
||||||
|
</head>
|
||||||
|
<body>
|
||||||
|
<header>
|
||||||
|
<div class="topbar">
|
||||||
|
<h1>Flyshot Replacement 状态监控</h1>
|
||||||
|
<div class="status-pill"><span class="dot"></span><span>Connected</span></div>
|
||||||
|
</div>
|
||||||
|
</header>
|
||||||
|
<main>
|
||||||
|
<div class="summary">
|
||||||
|
<div class="metric">
|
||||||
|
<div class="label">机器人</div>
|
||||||
|
<div class="value">FANUC</div>
|
||||||
|
</div>
|
||||||
|
<div class="metric">
|
||||||
|
<div class="label">速度倍率</div>
|
||||||
|
<div class="value">0.70</div>
|
||||||
|
</div>
|
||||||
|
<div class="metric">
|
||||||
|
<div class="label">运动中</div>
|
||||||
|
<div class="value">否</div>
|
||||||
|
</div>
|
||||||
|
<div class="metric">
|
||||||
|
<div class="label">TCP 位姿</div>
|
||||||
|
<div class="value" style="font-size: 16px;">120.0, 80.0, 320.0</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<section class="panel jog-panel">
|
||||||
|
<h2>直角坐标点动</h2>
|
||||||
|
<div class="jog-toolbar">
|
||||||
|
<label class="step-field" for="linear-step">
|
||||||
|
<span>平移步长 mm</span>
|
||||||
|
<input id="linear-step" type="number" min="0.1" max="10" step="0.1" value="1">
|
||||||
|
</label>
|
||||||
|
<label class="step-field" for="angular-step">
|
||||||
|
<span>姿态步长 deg</span>
|
||||||
|
<input id="angular-step" type="number" min="0.1" max="10" step="0.1" value="1">
|
||||||
|
</label>
|
||||||
|
<div id="readout" class="jog-readout">等待点动输入</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="jog-body">
|
||||||
|
<article class="stick-card">
|
||||||
|
<div class="stick-head">
|
||||||
|
<h3 class="stick-title">XYZ 平移摇杆</h3>
|
||||||
|
<span class="stick-unit">mm</span>
|
||||||
|
</div>
|
||||||
|
<div class="stick-console" aria-label="XYZ 平移摇杆">
|
||||||
|
<button class="axis-button up" type="button" data-axis="y" data-direction="1">Y+</button>
|
||||||
|
<button class="axis-button left" type="button" data-axis="x" data-direction="-1">X-</button>
|
||||||
|
<div class="center-stack">
|
||||||
|
<button class="mini-button" type="button" data-axis="z" data-direction="1">Z+</button>
|
||||||
|
<button class="mini-button" type="button" data-axis="z" data-direction="-1">Z-</button>
|
||||||
|
</div>
|
||||||
|
<button class="axis-button right" type="button" data-axis="x" data-direction="1">X+</button>
|
||||||
|
<button class="axis-button down" type="button" data-axis="y" data-direction="-1">Y-</button>
|
||||||
|
</div>
|
||||||
|
<div class="hint-row">
|
||||||
|
<span>X 左右</span>
|
||||||
|
<span>Y 上下</span>
|
||||||
|
<span>Z 中心</span>
|
||||||
|
</div>
|
||||||
|
</article>
|
||||||
|
|
||||||
|
<article class="stick-card">
|
||||||
|
<div class="stick-head">
|
||||||
|
<h3 class="stick-title">WPR 姿态摇杆</h3>
|
||||||
|
<span class="stick-unit">deg</span>
|
||||||
|
</div>
|
||||||
|
<div class="stick-console" aria-label="WPR 姿态摇杆">
|
||||||
|
<button class="axis-button up" type="button" data-axis="p" data-direction="1">P+</button>
|
||||||
|
<button class="axis-button left" type="button" data-axis="w" data-direction="-1">W-</button>
|
||||||
|
<div class="center-stack">
|
||||||
|
<button class="mini-button" type="button" data-axis="r" data-direction="-1">R-</button>
|
||||||
|
<button class="mini-button" type="button" data-axis="r" data-direction="1">R+</button>
|
||||||
|
</div>
|
||||||
|
<button class="axis-button right" type="button" data-axis="w" data-direction="1">W+</button>
|
||||||
|
<button class="axis-button down" type="button" data-axis="p" data-direction="-1">P-</button>
|
||||||
|
</div>
|
||||||
|
<div class="hint-row">
|
||||||
|
<span>W 左右</span>
|
||||||
|
<span>P 上下</span>
|
||||||
|
<span>R 中心</span>
|
||||||
|
</div>
|
||||||
|
</article>
|
||||||
|
</div>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section class="panel log-panel">
|
||||||
|
<div class="log-head">
|
||||||
|
<h2>请求日志</h2>
|
||||||
|
<button id="clear-log" class="clear-button" type="button">清空</button>
|
||||||
|
</div>
|
||||||
|
<div id="request-log" class="request-log" aria-live="polite">
|
||||||
|
<div class="log-entry">
|
||||||
|
<span class="log-time">--:--:--</span>
|
||||||
|
<span class="log-axis">等待输入</span>
|
||||||
|
<span class="log-payload">按住任意摇杆方向后，这里会记录每次模拟 MovePose 请求。</span>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
</section>
|
||||||
|
</main>
|
||||||
|
|
||||||
|
<script>
|
||||||
|
const readout = document.getElementById("readout");
|
||||||
|
const buttons = Array.from(document.querySelectorAll("[data-axis]"));
|
||||||
|
const linearStepInput = document.getElementById("linear-step");
|
||||||
|
const angularStepInput = document.getElementById("angular-step");
|
||||||
|
const requestLog = document.getElementById("request-log");
|
||||||
|
const clearLog = document.getElementById("clear-log");
|
||||||
|
const axisIndexes = { x: 0, y: 1, z: 2, w: 3, p: 4, r: 5 };
|
||||||
|
const poseKeys = ["x", "y", "z", "w", "p", "r"];
|
||||||
|
const maxLogCount = 80;
|
||||||
|
let timer = null;
|
||||||
|
let activeButton = null;
|
||||||
|
let requestCount = 0;
|
||||||
|
let currentPose = {
|
||||||
|
x: 120.0,
|
||||||
|
y: 80.0,
|
||||||
|
z: 320.0,
|
||||||
|
w: 0.0,
|
||||||
|
p: 45.0,
|
||||||
|
r: 0.0
|
||||||
|
};
|
||||||
|
|
||||||
|
function labelFor(button) {
|
||||||
|
const axis = button.dataset.axis.toUpperCase();
|
||||||
|
const sign = Number(button.dataset.direction) > 0 ? "+" : "-";
|
||||||
|
return axis + sign;
|
||||||
|
}
|
||||||
|
|
||||||
|
function clampStep(input, min, max) {
|
||||||
|
const value = Number(input.value);
|
||||||
|
if (!Number.isFinite(value)) {
|
||||||
|
input.value = String(min);
|
||||||
|
return min;
|
||||||
|
}
|
||||||
|
|
||||||
|
const clamped = Math.min(Math.max(value, min), max);
|
||||||
|
input.value = String(clamped);
|
||||||
|
return clamped;
|
||||||
|
}
|
||||||
|
|
||||||
|
function stepFor(axis) {
|
||||||
|
return axis === "x" || axis === "y" || axis === "z"
|
||||||
|
? clampStep(linearStepInput, 0.1, 10)
|
||||||
|
: clampStep(angularStepInput, 0.1, 10);
|
||||||
|
}
|
||||||
|
|
||||||
|
function buildMovePoseBody(button) {
|
||||||
|
const axis = button.dataset.axis;
|
||||||
|
const direction = Number(button.dataset.direction);
|
||||||
|
const key = poseKeys[axisIndexes[axis]];
|
||||||
|
currentPose[key] = Number((currentPose[key] + direction * stepFor(axis)).toFixed(6));
|
||||||
|
return {
|
||||||
|
x: currentPose.x,
|
||||||
|
y: currentPose.y,
|
||||||
|
z: currentPose.z,
|
||||||
|
w: currentPose.w,
|
||||||
|
p: currentPose.p,
|
||||||
|
r: currentPose.r
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
function appendLog(button, body) {
|
||||||
|
requestCount += 1;
|
||||||
|
if (requestCount === 1) {
|
||||||
|
requestLog.replaceChildren();
|
||||||
|
}
|
||||||
|
|
||||||
|
const row = document.createElement("div");
|
||||||
|
row.className = "log-entry";
|
||||||
|
|
||||||
|
const time = document.createElement("span");
|
||||||
|
time.className = "log-time";
|
||||||
|
time.textContent = new Date().toLocaleTimeString("zh-CN", { hour12: false });
|
||||||
|
|
||||||
|
const axis = document.createElement("span");
|
||||||
|
axis.className = "log-axis";
|
||||||
|
axis.textContent = "#" + String(requestCount).padStart(3, "0") + " " + labelFor(button);
|
||||||
|
|
||||||
|
const payload = document.createElement("span");
|
||||||
|
payload.className = "log-payload";
|
||||||
|
payload.textContent = "POST /move_pose/ " + JSON.stringify(body);
|
||||||
|
|
||||||
|
row.append(time, axis, payload);
|
||||||
|
requestLog.prepend(row);
|
||||||
|
|
||||||
|
while (requestLog.children.length > maxLogCount) {
|
||||||
|
requestLog.lastElementChild.remove();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
function tick(button) {
|
||||||
|
const body = buildMovePoseBody(button);
|
||||||
|
readout.textContent = "模拟发送: " + labelFor(button) + " -> " + JSON.stringify(body);
|
||||||
|
appendLog(button, body);
|
||||||
|
}
|
||||||
|
|
||||||
|
function stop() {
|
||||||
|
if (timer !== null) {
|
||||||
|
window.clearInterval(timer);
|
||||||
|
timer = null;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (activeButton) {
|
||||||
|
activeButton.classList.remove("active");
|
||||||
|
activeButton = null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
buttons.forEach(function (button) {
|
||||||
|
button.addEventListener("pointerdown", function (event) {
|
||||||
|
event.preventDefault();
|
||||||
|
stop();
|
||||||
|
activeButton = button;
|
||||||
|
button.classList.add("active");
|
||||||
|
tick(button);
|
||||||
|
timer = window.setInterval(function () {
|
||||||
|
tick(button);
|
||||||
|
}, 250);
|
||||||
|
});
|
||||||
|
button.addEventListener("pointerup", stop);
|
||||||
|
button.addEventListener("pointerleave", stop);
|
||||||
|
button.addEventListener("pointercancel", stop);
|
||||||
|
});
|
||||||
|
|
||||||
|
clearLog.addEventListener("click", function () {
|
||||||
|
requestCount = 0;
|
||||||
|
requestLog.innerHTML = '<div class="log-entry"><span class="log-time">--:--:--</span><span class="log-axis">已清空</span><span class="log-payload">新的点动请求会继续记录在这里。</span></div>';
|
||||||
|
readout.textContent = "等待点动输入";
|
||||||
|
});
|
||||||
|
|
||||||
|
window.addEventListener("blur", stop);
|
||||||
|
</script>
|
||||||
|
</body>
|
||||||
|
</html>
|
||||||
151
docs/uttc-ms11-jerk-validation-decision-20260511.md
Normal file
151
docs/uttc-ms11-jerk-validation-decision-20260511.md
Normal file
@@ -0,0 +1,151 @@
|
|||||||
|
# UTTC_MS11 跳过 flyshot jerk 阻断的结论记录
|
||||||
|
|
||||||
|
## 背景
|
||||||
|
|
||||||
|
2026-05-11 对 `UTTC_MS11` 做了两轮独立 `ConfigRoot` 重新生成与对比：
|
||||||
|
|
||||||
|
1. 保持 flyshot 离散校验中的 `vel/acc/jerk` 全部生效。
|
||||||
|
2. 临时只对 flyshot 链路跳过 `jerk` 阻断，仍保留速度与加速度校验。
|
||||||
|
|
||||||
|
两轮都使用当前程序重新生成：
|
||||||
|
|
||||||
|
- `POST /set_speedRatio/`
|
||||||
|
- `POST /save_traj_info/`
|
||||||
|
|
||||||
|
并与以下旧抓包侧结果做对比：
|
||||||
|
|
||||||
|
- `../Rvbust/uttc-20260428/2026042802-1_joint_segments/segment_02/JointDetialTraj.txt`
|
||||||
|
- `../Rvbust/uttc-20260428/2026042802-0.5_joint_segments/segment_02/JointDetialTraj.txt`
|
||||||
|
- `../Rvbust/uttc-20260428/1倍速度 角度坐标点/真实轨迹JointDetialTraj.txt`
|
||||||
|
|
||||||
|
## 直接结论
|
||||||
|
|
||||||
|
对当前 `UTTC_MS11` 现场样本，flyshot 链路若继续用离散 `jerk` 作为阻断条件，会触发大量时间轴 stretch，使新结果远慢于旧抓包。
|
||||||
|
|
||||||
|
当 flyshot 链路只保留速度、加速度校验并跳过 `jerk` 阻断后：
|
||||||
|
|
||||||
|
- 新 `1.0x` 实发时长从 `16.576s` 回落到 `7.552s`
|
||||||
|
- 新 `0.5x` 实发时长从 `33.152s` 回落到 `15.104s`
|
||||||
|
- 与旧抓包主运动段相比，只剩很小的时长差异，可接受并忽略
|
||||||
|
|
||||||
|
因此，当前项目对 `UTTC_MS11` 的实际结论定为：
|
||||||
|
|
||||||
|
- flyshot 链路临时不再把离散 `jerk` 作为阻断条件
|
||||||
|
- 仍保留速度、加速度校验
|
||||||
|
- `jerk` 诊断文件继续保留，用于分析，不再作为该路径是否可运行的唯一否决条件
|
||||||
|
|
||||||
|
## 证据
|
||||||
|
|
||||||
|
### 1. 开启 jerk 阻断时的现象
|
||||||
|
|
||||||
|
重新生成结果目录：
|
||||||
|
|
||||||
|
- `../temp/regen-20260511-110950/`
|
||||||
|
|
||||||
|
关键结果：
|
||||||
|
|
||||||
|
- `1.0x ActualSendTiming.txt`：`2073` 行，`send_duration=16.576s`
|
||||||
|
- `0.5x ActualSendTiming.txt`：`4145` 行，`send_duration=33.152s`
|
||||||
|
|
||||||
|
对比旧抓包主段：
|
||||||
|
|
||||||
|
- 旧 `1.0x`：`7.408109s`
|
||||||
|
- 旧 `0.5x`：`14.808342s`
|
||||||
|
|
||||||
|
可见新结果明显被拉长。
|
||||||
|
|
||||||
|
### 2. 触发 stretch 的第一条失败证据
|
||||||
|
|
||||||
|
日志文件：
|
||||||
|
|
||||||
|
- `../temp/regen-20260511-110950/host.log`
|
||||||
|
|
||||||
|
第一条离散失败不是加速度，而是开头窗口的 `Joint1 Jerk`：
|
||||||
|
|
||||||
|
- `轨迹 UTTC_MS11 第 3 行 Joint1 Jerk超限`
|
||||||
|
- `time=0.008000->0.016000s`
|
||||||
|
- `actual=-1732.421875`
|
||||||
|
- `limit=91.698044`
|
||||||
|
- `ratio=18.8927`
|
||||||
|
|
||||||
|
后续 `CreateLimitCompliantDenseTrajectory(...)` 按 `1.01` 倍持续拉长时间轴，直到通过离散校验，最终把总时长推到约 `16.57s`。
|
||||||
|
|
||||||
|
### 3. 只跳过 flyshot jerk 阻断后的结果
|
||||||
|
|
||||||
|
重新生成结果目录：
|
||||||
|
|
||||||
|
- `../temp/regen-nojerk-20260511-113258/`
|
||||||
|
|
||||||
|
关键结果：
|
||||||
|
|
||||||
|
- `1.0x ActualSendTiming.txt`：`945` 行，`send_duration=7.552s`
|
||||||
|
- `0.5x ActualSendTiming.txt`：`1889` 行，`send_duration=15.104s`
|
||||||
|
|
||||||
|
与旧抓包主段对比：
|
||||||
|
|
||||||
|
| 项目 | 旧抓包时长 | 新结果时长 | 差值 |
|
||||||
|
| --- | ---: | ---: | ---: |
|
||||||
|
| `1.0x` | `7.408109s` | `7.552s` | `0.143891s` |
|
||||||
|
| `0.5x` | `14.808342s` | `15.104s` | `0.295658s` |
|
||||||
|
|
||||||
|
该差异已经很小，当前按“可忽略”处理。
|
||||||
|
|
||||||
|
## 轨迹误差变化
|
||||||
|
|
||||||
|
在同一套对比脚本口径下：
|
||||||
|
|
||||||
|
### 开启 jerk 阻断时
|
||||||
|
|
||||||
|
- `JointDetialTraj` 新 vs 旧真实轨迹：全局 RMS 约 `46.664 deg`
|
||||||
|
- `ActualSendJointTraj 1.0x` 新 vs 旧抓包：全局 RMS 约 `46.665 deg`
|
||||||
|
- `ActualSendJointTraj 0.5x` 新 vs 旧抓包：全局 RMS 约 `46.667 deg`
|
||||||
|
|
||||||
|
### 跳过 flyshot jerk 阻断后
|
||||||
|
|
||||||
|
- `JointDetialTraj` 新 vs 旧真实轨迹：全局 RMS 约 `8.411 deg`
|
||||||
|
- `ActualSendJointTraj 1.0x` 新 vs 旧抓包：全局 RMS 约 `8.412 deg`
|
||||||
|
- `ActualSendJointTraj 0.5x` 新 vs 旧抓包：全局 RMS 约 `8.412 deg`
|
||||||
|
|
||||||
|
说明这次差异收敛主要来自去掉 flyshot jerk 阻断后的 stretch，而不是 `speed_ratio` 链路本身被重新设计。
|
||||||
|
|
||||||
|
## 对 jerk 的解释
|
||||||
|
|
||||||
|
这次调整不等于“现场 jerk 完全合规”，而是明确区分：
|
||||||
|
|
||||||
|
1. `jerk` 仍然继续计算和导出
|
||||||
|
2. `jerk` 仍然可作为诊断指标
|
||||||
|
3. 但对当前 `UTTC_MS11` flyshot 现场样本，不再把 `jerk` 作为阻断执行的唯一判据
|
||||||
|
|
||||||
|
重新生成后的分析文件仍显示：
|
||||||
|
|
||||||
|
- 加速度 ratio 明显在限值内
|
||||||
|
- `jerk` ratio 依然可能大于 `1`
|
||||||
|
|
||||||
|
这与旧抓包整理结果的观察一致：当前现场样本里，“加速度合规但跃度超限”是可接受现象，不能单凭 jerk 超限就否决 flyshot 轨迹。
|
||||||
|
|
||||||
|
## 当前代码决策范围
|
||||||
|
|
||||||
|
本次代码调整范围刻意收窄为：
|
||||||
|
|
||||||
|
- 只对 flyshot 链路关闭 `jerk` 阻断
|
||||||
|
- 保留 flyshot 的速度、加速度校验
|
||||||
|
- 不修改 `move_joint` 的 jerk 约束逻辑
|
||||||
|
|
||||||
|
对应入口包括：
|
||||||
|
|
||||||
|
- `ControllerClientTrajectoryOrchestrator.CreateLimitCompliantDenseTrajectory(...)`
|
||||||
|
- `FlyshotExecutionSendSequenceBuilder.Build(...)`
|
||||||
|
- `FlyshotTrajectoryArtifactWriter.WriteActualSendArtifacts(...)`
|
||||||
|
|
||||||
|
`move_joint` 仍保持原先的 jerk 受限实现，不共享这次豁免策略。
|
||||||
|
|
||||||
|
## 当前验收判断
|
||||||
|
|
||||||
|
对 `UTTC_MS11`：
|
||||||
|
|
||||||
|
- 只保留 flyshot 速度/加速度校验
|
||||||
|
- 跳过 flyshot jerk 阻断
|
||||||
|
- 新 `1.0x / 0.5x` 与旧抓包主段的剩余时长差异已经很小
|
||||||
|
- 当前判断：这点差异可以忽略
|
||||||
|
|
||||||
|
后续除非现场再次提供新的反证，否则本结论作为当前项目实现与验收的记录保留。
|
||||||
6
global.json
Normal file
6
global.json
Normal file
@@ -0,0 +1,6 @@
|
|||||||
|
{
|
||||||
|
"sdk": {
|
||||||
|
"version": "8.0.420",
|
||||||
|
"rollForward": "disable"
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -9,12 +9,12 @@ namespace Flyshot.ControllerClientCompat;
|
|||||||
public sealed class ControllerClientCompatRobotCatalog
|
public sealed class ControllerClientCompatRobotCatalog
|
||||||
{
|
{
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 保存当前现场支持的机器人名称到运行目录模型文件名映射。
|
/// 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>
|
/// </summary>
|
||||||
private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelFileMap = new Dictionary<string, string>(StringComparer.Ordinal)
|
private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelFileMap = new Dictionary<string, string>(StringComparer.Ordinal)
|
||||||
{
|
{
|
||||||
["FANUC_LR_Mate_200iD"] = "LR_Mate_200iD_7L.robot",
|
["FANUC_LR_Mate_200iD"] = "LR_Mate_200iD_7L.json",
|
||||||
["FANUC_LR_Mate_200iD_7L"] = "LR_Mate_200iD_7L.robot"
|
["FANUC_LR_Mate_200iD_7L"] = "LR_Mate_200iD_7L.json"
|
||||||
};
|
};
|
||||||
|
|
||||||
private readonly ControllerClientCompatOptions _options;
|
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。
|
/// 初始化机器人兼容目录解析器。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="options">兼容层基础配置。</param>
|
/// <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(
|
public ControllerClientCompatRobotCatalog(
|
||||||
ControllerClientCompatOptions options,
|
ControllerClientCompatOptions options,
|
||||||
RobotModelLoader robotModelLoader)
|
RobotModelLoader robotModelLoader)
|
||||||
@@ -57,10 +57,10 @@ public sealed class ControllerClientCompatRobotCatalog
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 解析机器人模型路径，运行目录 Config/Models 优先，旧父工作区只作为显式兼容入口。
|
/// 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>
|
/// </summary>
|
||||||
/// <param name="modelFileName">运行目录 Models 下的机器人模型文件名。</param>
|
/// <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 .robot 加载器的模型文件绝对路径。</returns>
|
/// <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)
|
private string ResolveModelPath(string modelFileName)
|
||||||
{
|
{
|
||||||
var configModelPath = Path.Combine(_options.ResolveConfigRoot(), "Models", modelFileName);
|
var configModelPath = Path.Combine(_options.ResolveConfigRoot(), "Models", modelFileName);
|
||||||
@@ -69,12 +69,6 @@ public sealed class ControllerClientCompatRobotCatalog
|
|||||||
return configModelPath;
|
return configModelPath;
|
||||||
}
|
}
|
||||||
|
|
||||||
var legacyWorkspaceRoot = _options.ResolveLegacyWorkspaceRoot();
|
return "Not found";
|
||||||
if (legacyWorkspaceRoot is not null)
|
|
||||||
{
|
|
||||||
return Path.Combine(legacyWorkspaceRoot, "FlyingShot", "FlyingShot", "Models", modelFileName);
|
|
||||||
}
|
|
||||||
|
|
||||||
return configModelPath;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,5 +1,6 @@
|
|||||||
using Flyshot.Core.Config;
|
using Flyshot.Core.Config;
|
||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
|
using Flyshot.Core.Planning.Sampling;
|
||||||
using Flyshot.Runtime.Common;
|
using Flyshot.Runtime.Common;
|
||||||
using Microsoft.Extensions.Logging;
|
using Microsoft.Extensions.Logging;
|
||||||
|
|
||||||
@@ -11,6 +12,7 @@ namespace Flyshot.ControllerClientCompat;
|
|||||||
public sealed class ControllerClientCompatService : IControllerClientCompatService
|
public sealed class ControllerClientCompatService : IControllerClientCompatService
|
||||||
{
|
{
|
||||||
private readonly object _stateLock = new();
|
private readonly object _stateLock = new();
|
||||||
|
private readonly object _motionLock = new();
|
||||||
private readonly Dictionary<string, ControllerClientCompatUploadedTrajectory> _uploadedTrajectories = new(StringComparer.Ordinal);
|
private readonly Dictionary<string, ControllerClientCompatUploadedTrajectory> _uploadedTrajectories = new(StringComparer.Ordinal);
|
||||||
private readonly ControllerClientCompatOptions _options;
|
private readonly ControllerClientCompatOptions _options;
|
||||||
private readonly ControllerClientCompatRobotCatalog _robotCatalog;
|
private readonly ControllerClientCompatRobotCatalog _robotCatalog;
|
||||||
@@ -133,6 +135,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
_activeRobotProfile = robotProfile;
|
_activeRobotProfile = robotProfile;
|
||||||
_uploadedTrajectories.Clear();
|
_uploadedTrajectories.Clear();
|
||||||
_runtime.ResetRobot(robotProfile, robotName);
|
_runtime.ResetRobot(robotProfile, robotName);
|
||||||
|
// RobotConfig.json 的 speed_ratio 是启动默认值；在线 set_speedRatio 仍可覆盖后续执行。
|
||||||
|
_runtime.SetSpeedRatio(robotSettings.SpeedRatio);
|
||||||
_robotSettings = robotSettings;
|
_robotSettings = robotSettings;
|
||||||
|
|
||||||
// 从持久化存储恢复该机器人名下之前已上传的轨迹。
|
// 从持久化存储恢复该机器人名下之前已上传的轨迹。
|
||||||
@@ -144,11 +148,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, 恢复轨迹数={TrajCount}",
|
"SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, speedRatio={SpeedRatio}, 恢复轨迹数={TrajCount}",
|
||||||
robotName,
|
robotName,
|
||||||
robotProfile.DegreesOfFreedom,
|
robotProfile.DegreesOfFreedom,
|
||||||
robotSettings.AccLimitScale,
|
robotSettings.AccLimitScale,
|
||||||
robotSettings.JerkLimitScale,
|
robotSettings.JerkLimitScale,
|
||||||
|
robotSettings.SpeedRatio,
|
||||||
_uploadedTrajectories.Count);
|
_uploadedTrajectories.Count);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -193,8 +198,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.SetActiveController(sim);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
_runtime.SetActiveController(sim);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -210,9 +216,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.Connect(robotIp);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
_runtime.Connect(robotIp);
|
||||||
|
|
||||||
_logger?.LogInformation("Connect 完成: robotIp={RobotIp}", robotIp);
|
_logger?.LogInformation("Connect 完成: robotIp={RobotIp}", robotIp);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -222,8 +229,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.Disconnect();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
_runtime.Disconnect();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -233,8 +241,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.EnableRobot(bufferSize);
|
|
||||||
}
|
}
|
||||||
|
_runtime.EnableRobot(bufferSize);
|
||||||
_logger?.LogInformation("EnableRobot 完成");
|
_logger?.LogInformation("EnableRobot 完成");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -245,8 +253,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.DisableRobot();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// DisableRobot 是中断/控制命令，不能被长时间运动串行锁挡住。
|
||||||
|
_runtime.DisableRobot();
|
||||||
_logger?.LogInformation("DisableRobot 完成");
|
_logger?.LogInformation("DisableRobot 完成");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -257,8 +267,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.StopMove();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// StopMove 必须能在运动执行期间直接进入 runtime 取消发送任务。
|
||||||
|
_runtime.StopMove();
|
||||||
_logger?.LogInformation("StopMove 完成");
|
_logger?.LogInformation("StopMove 完成");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -268,14 +280,31 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
return _runtime.GetSnapshot();
|
return _runtime.GetSnapshot();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <inheritdoc />
|
||||||
|
public ControllerClientStatusSnapshotMetadata GetStatusSnapshotMetadata()
|
||||||
|
{
|
||||||
|
lock (_stateLock)
|
||||||
|
{
|
||||||
|
var isSetup = _activeRobotProfile is not null;
|
||||||
|
return new ControllerClientStatusSnapshotMetadata(
|
||||||
|
isSetup,
|
||||||
|
isSetup ? _configuredRobotName : null,
|
||||||
|
isSetup ? _activeRobotProfile!.DegreesOfFreedom : 0,
|
||||||
|
isSetup ? _uploadedTrajectories.Keys.ToArray() : Array.Empty<string>(),
|
||||||
|
GetServerVersion(),
|
||||||
|
GetClientVersion());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
public double GetSpeedRatio()
|
public double GetSpeedRatio()
|
||||||
{
|
{
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
return _runtime.GetSpeedRatio();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
return _runtime.GetSpeedRatio();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -284,8 +313,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.SetSpeedRatio(ratio);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
_runtime.SetSpeedRatio(ratio);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -294,8 +324,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.SetIo(port, value, ioType);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
_runtime.SetIo(port, value, ioType);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -304,8 +335,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
return _runtime.GetIo(port, ioType);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
return _runtime.GetIo(port, ioType);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -337,8 +369,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
_runtime.SetTcp(x, y, z);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
_runtime.SetTcp(x, y, z);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -347,8 +380,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
return _runtime.GetTcp();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
return _runtime.GetTcp();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -357,8 +391,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
return _runtime.GetJointPositions();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
return _runtime.GetJointPositions();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -369,16 +404,44 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
_logger?.LogInformation("MoveJoint 开始: 目标关节数={JointCount}", jointPositions.Count);
|
_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"))));
|
_logger?.LogDebug("MoveJoint 目标关节: {Joints}", string.Join(", ", jointPositions.Select(j => j.ToString("F4"))));
|
||||||
|
|
||||||
|
RobotProfile robot;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
var robot = RequireActiveRobot();
|
robot = RequireActiveRobot();
|
||||||
EnsureRuntimeEnabled();
|
EnsureRuntimeEnabled();
|
||||||
ExecuteMoveJointAndWaitLocked(robot, jointPositions, "MoveJoint");
|
}
|
||||||
|
|
||||||
|
lock (_motionLock)
|
||||||
|
{
|
||||||
|
ExecuteMoveJointAndWait(robot, jointPositions, "MoveJoint");
|
||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation("MoveJoint 完成");
|
_logger?.LogInformation("MoveJoint 完成");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <inheritdoc />
|
||||||
|
public void MovePose(IReadOnlyList<double> pose)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(pose);
|
||||||
|
|
||||||
|
_logger?.LogInformation("MovePose 开始: 目标位姿维度={PoseCount}", pose.Count);
|
||||||
|
_logger?.LogDebug("MovePose 目标位姿: {Pose}", string.Join(", ", pose.Select(v => v.ToString("F4"))));
|
||||||
|
|
||||||
|
RobotProfile robot;
|
||||||
|
lock (_stateLock)
|
||||||
|
{
|
||||||
|
robot = RequireActiveRobot();
|
||||||
|
EnsureRuntimeEnabled();
|
||||||
|
}
|
||||||
|
|
||||||
|
lock (_motionLock)
|
||||||
|
{
|
||||||
|
ExecuteMovePoseAndWait(robot, pose, "MovePose");
|
||||||
|
}
|
||||||
|
|
||||||
|
_logger?.LogInformation("MovePose 完成");
|
||||||
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints, TrajectoryExecutionOptions? options = null)
|
public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints, TrajectoryExecutionOptions? options = null)
|
||||||
{
|
{
|
||||||
@@ -394,21 +457,29 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
_logger?.LogDebug("ExecuteTrajectory 路点详情: {Waypoints}",
|
_logger?.LogDebug("ExecuteTrajectory 路点详情: {Waypoints}",
|
||||||
string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Select(j => j.ToString("F4")))}]")));
|
string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Select(j => j.ToString("F4")))}]")));
|
||||||
|
|
||||||
|
RobotProfile robot;
|
||||||
|
CompatibilityRobotSettings settings;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
var robot = RequireActiveRobot();
|
robot = RequireActiveRobot();
|
||||||
EnsureRuntimeEnabled();
|
EnsureRuntimeEnabled();
|
||||||
|
settings = RequireRobotSettings();
|
||||||
|
}
|
||||||
|
|
||||||
|
lock (_motionLock)
|
||||||
|
{
|
||||||
// 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。
|
// 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 planningSpeedScale = RequireRobotSettings().PlanningSpeedScale;
|
var planningSpeedScale = settings.PlanningSpeedScale;
|
||||||
var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options, planningSpeedScale);
|
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||||
|
var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options, planningSpeedScale, speedRatio);
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}, planningSpeedScale={PlanningSpeedScale}",
|
"ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}, planningSpeedScale={PlanningSpeedScale}, speedRatio={SpeedRatio}",
|
||||||
bundle.Result.Method,
|
bundle.Result.Method,
|
||||||
bundle.Result.Duration.TotalSeconds,
|
bundle.Result.Duration.TotalSeconds,
|
||||||
bundle.Result.IsValid,
|
bundle.Result.IsValid,
|
||||||
bundle.Result.DenseJointTrajectory?.Count ?? 0,
|
bundle.Result.DenseJointTrajectory?.Count ?? 0,
|
||||||
planningSpeedScale);
|
planningSpeedScale,
|
||||||
|
speedRatio);
|
||||||
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
|
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
|
||||||
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
|
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
|
||||||
}
|
}
|
||||||
@@ -422,8 +493,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRobotSetup();
|
EnsureRobotSetup();
|
||||||
return _runtime.GetPose();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
return _runtime.GetPose();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
@@ -437,16 +509,20 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
trajectory.Waypoints.Count,
|
trajectory.Waypoints.Count,
|
||||||
trajectory.ShotFlags.Count(static f => f));
|
trajectory.ShotFlags.Count(static f => f));
|
||||||
|
|
||||||
|
string robotName;
|
||||||
|
CompatibilityRobotSettings settings;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureRuntimeEnabled();
|
EnsureRuntimeEnabled();
|
||||||
_uploadedTrajectories[trajectory.Name] = trajectory;
|
_uploadedTrajectories[trajectory.Name] = trajectory;
|
||||||
|
|
||||||
var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
||||||
var settings = _robotSettings ?? CreateDefaultRobotSettings();
|
settings = _robotSettings ?? CreateDefaultRobotSettings();
|
||||||
_trajectoryStore.Save(robotName, settings, trajectory);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// RobotConfig.json 持久化是文件 I/O，放在状态锁外，避免状态页轮询被磁盘写入拖住。
|
||||||
|
_trajectoryStore.Save(robotName, settings, trajectory);
|
||||||
|
|
||||||
_logger?.LogInformation("UploadTrajectory 完成: name={Name}", trajectory.Name);
|
_logger?.LogInformation("UploadTrajectory 完成: name={Name}", trajectory.Name);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -472,47 +548,80 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
"ExecuteTrajectoryByName 开始: name={Name}, method={Method}, moveToStart={MoveToStart}, useCache={UseCache}, wait={Wait}",
|
"ExecuteTrajectoryByName 开始: name={Name}, method={Method}, moveToStart={MoveToStart}, useCache={UseCache}, wait={Wait}",
|
||||||
name, options.Method, options.MoveToStart, options.UseCache, options.Wait);
|
name, options.Method, options.MoveToStart, options.UseCache, options.Wait);
|
||||||
|
|
||||||
|
RobotProfile robot;
|
||||||
|
CompatibilityRobotSettings settings;
|
||||||
|
ControllerClientCompatUploadedTrajectory trajectory;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
var robot = RequireActiveRobot();
|
robot = RequireActiveRobot();
|
||||||
EnsureRuntimeEnabled();
|
EnsureRuntimeEnabled();
|
||||||
|
|
||||||
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
|
if (!_uploadedTrajectories.TryGetValue(name, out var uploadedTrajectory))
|
||||||
{
|
{
|
||||||
_logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹不存在 name={Name}", name);
|
_logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹不存在 name={Name}", name);
|
||||||
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// 飞拍执行只拿上传轨迹的瞬时副本，后续规划/导出都不再依赖字典锁。
|
||||||
|
trajectory = CloneUploadedTrajectory(uploadedTrajectory);
|
||||||
if (trajectory.Waypoints.Count == 0)
|
if (trajectory.Waypoints.Count == 0)
|
||||||
{
|
{
|
||||||
_logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹无路点 name={Name}", name);
|
_logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹无路点 name={Name}", name);
|
||||||
throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
|
throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
settings = RequireRobotSettings();
|
||||||
|
}
|
||||||
|
|
||||||
|
lock (_motionLock)
|
||||||
|
{
|
||||||
// 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。
|
// 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 settings = RequireRobotSettings();
|
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale);
|
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale, speedRatio);
|
||||||
ExportFlyshotArtifactsIfRequested(name, options.SaveTrajectory, robot, bundle);
|
bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
|
||||||
|
ExportFlyshotArtifactsIfRequested(
|
||||||
|
name,
|
||||||
|
options.SaveTrajectory,
|
||||||
|
robot,
|
||||||
|
trajectory,
|
||||||
|
options,
|
||||||
|
settings,
|
||||||
|
bundle,
|
||||||
|
settings.PlanningSpeedScale,
|
||||||
|
speedRatio);
|
||||||
_logger?.LogInformation(
|
_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}",
|
"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}, speedRatio={SpeedRatio}",
|
||||||
name,
|
name,
|
||||||
bundle.Result.Method,
|
bundle.Result.Method,
|
||||||
bundle.Result.Duration.TotalSeconds,
|
bundle.Result.Duration.TotalSeconds,
|
||||||
bundle.Result.TriggerTimeline.Count,
|
bundle.Result.TriggerTimeline.Count,
|
||||||
bundle.Result.UsedCache,
|
bundle.Result.UsedCache,
|
||||||
settings.PlanningSpeedScale);
|
settings.PlanningSpeedScale,
|
||||||
|
speedRatio);
|
||||||
|
|
||||||
if (options.MoveToStart)
|
if (options.MoveToStart)
|
||||||
{
|
{
|
||||||
_logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
|
_logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
|
||||||
ExecuteMoveJointAndWaitLocked(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
|
ExecuteMoveJointAndWait(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
|
||||||
|
EnsureFeedbackNearFlyshotStart(bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, name);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// 正式飞拍前必须确认机器人反馈已经在轨迹起点附近，避免 J519 目标突变。
|
||||||
|
if (!IsFeedbackNearFlyshotStart(bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, name))
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
|
var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
|
||||||
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
|
_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
|
||||||
if (options.Wait)
|
if (options.Wait)
|
||||||
{
|
{
|
||||||
WaitForRuntimeMotionComplete("ExecuteTrajectoryByName.flyshot", bundle.Result.Duration);
|
var executionDuration = bundle.PreparedExecution is null
|
||||||
|
? bundle.Result.Duration
|
||||||
|
: TimeSpan.FromSeconds(bundle.PreparedExecution.FinalDurationSeconds);
|
||||||
|
WaitForRuntimeMotionComplete("ExecuteTrajectoryByName.flyshot", executionDuration);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -525,7 +634,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
/// <param name="robot">当前机器人模型。</param>
|
/// <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="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>
|
/// <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)
|
private void ExecuteMoveJointAndWait(RobotProfile robot, IReadOnlyList<double> targetJointPositions, string operationName)
|
||||||
{
|
{
|
||||||
var currentJointPositions = _runtime.GetJointPositions();
|
var currentJointPositions = _runtime.GetJointPositions();
|
||||||
EnsureJointVector(currentJointPositions, robot.DegreesOfFreedom, nameof(currentJointPositions));
|
EnsureJointVector(currentJointPositions, robot.DegreesOfFreedom, nameof(currentJointPositions));
|
||||||
@@ -544,6 +653,57 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
|
WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 从当前 TCP 位姿生成临时直角 PTP 稠密轨迹并阻塞等待运行时完成。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="robot">当前机器人模型，用于取得 J519 伺服周期。</param>
|
||||||
|
/// <param name="targetPose">目标位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
|
||||||
|
/// <param name="operationName">用于日志和超时异常的操作名。</param>
|
||||||
|
private void ExecuteMovePoseAndWait(RobotProfile robot, IReadOnlyList<double> targetPose, string operationName)
|
||||||
|
{
|
||||||
|
var currentPose = NormalizeRuntimePose(_runtime.GetPose());
|
||||||
|
EnsurePoseVector(targetPose, nameof(targetPose));
|
||||||
|
|
||||||
|
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||||
|
var moveResult = MovePoseTrajectoryGenerator.CreateResult(currentPose, targetPose, robot.ServoPeriod, speedRatio, _logger);
|
||||||
|
_logger?.LogInformation(
|
||||||
|
"{OperationName} 直角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.DenseCartesianTrajectory?.Count ?? 0);
|
||||||
|
|
||||||
|
_runtime.ExecuteCartesianTrajectory(moveResult, targetPose);
|
||||||
|
WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 校验当前反馈是否接近飞拍起点；不接近时直接抛出兼容错误。
|
||||||
|
/// </summary>
|
||||||
|
private void EnsureFeedbackNearFlyshotStart(IReadOnlyList<double> targetJointPositions, string name)
|
||||||
|
{
|
||||||
|
if (!IsFeedbackNearFlyshotStart(targetJointPositions, name))
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("Robot feedback is not near flyshot start.");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 检查当前机械臂关节反馈与计划轨迹第一个点之间的差异。
|
||||||
|
/// </summary>
|
||||||
|
private bool IsFeedbackNearFlyshotStart(IReadOnlyList<double> targetJointPositions, string name)
|
||||||
|
{
|
||||||
|
var currentJointPositions = _runtime.GetJointPositions();
|
||||||
|
var diff = currentJointPositions.Zip(targetJointPositions, (current, target) => Math.Abs(current - target)).Sum();
|
||||||
|
if (diff <= 0.01)
|
||||||
|
{
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
_logger?.LogWarning("ExecuteTrajectoryByName 当前关节坐标与计划轨迹的第一个点之间的差异过大 name={Name}, diff={Diff}", name, diff);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
@@ -592,29 +752,44 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
|
|
||||||
_logger?.LogInformation("SaveTrajectoryInfo 开始: name={Name}, method={Method}", name, method);
|
_logger?.LogInformation("SaveTrajectoryInfo 开始: name={Name}, method={Method}", name, method);
|
||||||
|
|
||||||
|
RobotProfile robot;
|
||||||
|
CompatibilityRobotSettings planningSettings;
|
||||||
|
ControllerClientCompatUploadedTrajectory trajectory;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
var robot = RequireActiveRobot();
|
robot = RequireActiveRobot();
|
||||||
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
|
if (!_uploadedTrajectories.TryGetValue(name, out var uploadedTrajectory))
|
||||||
{
|
{
|
||||||
_logger?.LogWarning("SaveTrajectoryInfo 失败: 轨迹不存在 name={Name}", name);
|
_logger?.LogWarning("SaveTrajectoryInfo 失败: 轨迹不存在 name={Name}", name);
|
||||||
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
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。
|
// 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。
|
||||||
var planningSettings = RequireRobotSettings();
|
// 保存轨迹信息会执行规划和文件导出，先复制上传数据再释放状态锁。
|
||||||
|
trajectory = CloneUploadedTrajectory(uploadedTrajectory);
|
||||||
|
planningSettings = RequireRobotSettings();
|
||||||
|
}
|
||||||
|
|
||||||
|
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
||||||
robot,
|
robot,
|
||||||
trajectory,
|
trajectory,
|
||||||
new FlyshotExecutionOptions(saveTrajectory: true, method: method),
|
new FlyshotExecutionOptions(useCache: false, saveTrajectory: true, method: method),
|
||||||
planningSettings,
|
planningSettings,
|
||||||
planningSettings.PlanningSpeedScale);
|
planningSettings.PlanningSpeedScale,
|
||||||
ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
|
speedRatio);
|
||||||
|
bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
|
||||||
var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
_logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
|
||||||
var settings = _robotSettings ?? CreateDefaultRobotSettings();
|
ExportFlyshotArtifactsIfRequested(
|
||||||
_trajectoryStore.Save(robotName, settings, trajectory);
|
name,
|
||||||
}
|
saveTrajectory: true,
|
||||||
|
robot,
|
||||||
|
trajectory,
|
||||||
|
new FlyshotExecutionOptions(useCache: false, saveTrajectory: true, method: method),
|
||||||
|
planningSettings,
|
||||||
|
bundle,
|
||||||
|
planningSettings.PlanningSpeedScale,
|
||||||
|
speedRatio);
|
||||||
|
|
||||||
_logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);
|
_logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);
|
||||||
}
|
}
|
||||||
@@ -629,23 +804,42 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
|
|
||||||
_logger?.LogInformation("IsFlyshotTrajectoryValid 开始: name={Name}, method={Method}", name, method);
|
_logger?.LogInformation("IsFlyshotTrajectoryValid 开始: name={Name}, method={Method}", name, method);
|
||||||
|
|
||||||
|
RobotProfile robot;
|
||||||
|
CompatibilityRobotSettings planningSettings;
|
||||||
|
ControllerClientCompatUploadedTrajectory trajectory;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
var robot = RequireActiveRobot();
|
robot = RequireActiveRobot();
|
||||||
if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
|
if (!_uploadedTrajectories.TryGetValue(name, out var uploadedTrajectory))
|
||||||
{
|
{
|
||||||
_logger?.LogWarning("IsFlyshotTrajectoryValid 失败: 轨迹不存在 name={Name}", name);
|
_logger?.LogWarning("IsFlyshotTrajectoryValid 失败: 轨迹不存在 name={Name}", name);
|
||||||
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
throw new InvalidOperationException("FlyShot trajectory does not exist.");
|
||||||
}
|
}
|
||||||
|
|
||||||
var planningSettings = RequireRobotSettings();
|
// 有效性检查只消费当前快照，不要求和后续上传/删除形成长事务。
|
||||||
|
trajectory = CloneUploadedTrajectory(uploadedTrajectory);
|
||||||
|
planningSettings = RequireRobotSettings();
|
||||||
|
}
|
||||||
|
|
||||||
|
var speedRatio = _runtime.GetSnapshot().SpeedRatio;
|
||||||
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
||||||
robot,
|
robot,
|
||||||
trajectory,
|
trajectory,
|
||||||
new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
|
new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
|
||||||
planningSettings,
|
planningSettings,
|
||||||
planningSettings.PlanningSpeedScale);
|
planningSettings.PlanningSpeedScale,
|
||||||
ExportFlyshotArtifactsIfRequested(name, saveTrajectory, robot, bundle);
|
speedRatio);
|
||||||
|
bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
|
||||||
|
ExportFlyshotArtifactsIfRequested(
|
||||||
|
name,
|
||||||
|
saveTrajectory,
|
||||||
|
robot,
|
||||||
|
trajectory,
|
||||||
|
new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
|
||||||
|
planningSettings,
|
||||||
|
bundle,
|
||||||
|
planningSettings.PlanningSpeedScale,
|
||||||
|
speedRatio);
|
||||||
|
|
||||||
duration = bundle.Result.Duration;
|
duration = bundle.Result.Duration;
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
@@ -653,7 +847,6 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
name, bundle.Result.IsValid, duration.TotalSeconds);
|
name, bundle.Result.IsValid, duration.TotalSeconds);
|
||||||
return bundle.Result.IsValid;
|
return bundle.Result.IsValid;
|
||||||
}
|
}
|
||||||
}
|
|
||||||
|
|
||||||
/// <inheritdoc />
|
/// <inheritdoc />
|
||||||
public void DeleteTrajectory(string name)
|
public void DeleteTrajectory(string name)
|
||||||
@@ -665,6 +858,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
|
|
||||||
_logger?.LogInformation("DeleteTrajectory 开始: name={Name}", name);
|
_logger?.LogInformation("DeleteTrajectory 开始: name={Name}", name);
|
||||||
|
|
||||||
|
string robotName;
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
if (!_uploadedTrajectories.Remove(name))
|
if (!_uploadedTrajectories.Remove(name))
|
||||||
@@ -673,10 +867,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
throw new InvalidOperationException("DeleteFlyShotTraj failed");
|
throw new InvalidOperationException("DeleteFlyShotTraj failed");
|
||||||
}
|
}
|
||||||
|
|
||||||
var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
|
||||||
_trajectoryStore.Delete(robotName, name);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// 删除持久化文件不占用状态锁，状态页只需要看到内存字典的即时快照。
|
||||||
|
_trajectoryStore.Delete(robotName, name);
|
||||||
|
|
||||||
_logger?.LogInformation("DeleteTrajectory 完成: name={Name}", name);
|
_logger?.LogInformation("DeleteTrajectory 完成: name={Name}", name);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -716,6 +912,21 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
return _robotSettings ?? CreateDefaultRobotSettings();
|
return _robotSettings ?? CreateDefaultRobotSettings();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 复制一份上传轨迹快照，避免锁外规划期间观察到可变集合引用。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="trajectory">待复制的上传轨迹。</param>
|
||||||
|
/// <returns>上传轨迹副本。</returns>
|
||||||
|
private static ControllerClientCompatUploadedTrajectory CloneUploadedTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
|
||||||
|
{
|
||||||
|
return new ControllerClientCompatUploadedTrajectory(
|
||||||
|
trajectory.Name,
|
||||||
|
trajectory.Waypoints,
|
||||||
|
trajectory.ShotFlags,
|
||||||
|
trajectory.OffsetValues,
|
||||||
|
trajectory.AddressGroups);
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 校验机器人已经完成初始化。
|
/// 校验机器人已经完成初始化。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -759,25 +970,125 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 校验直角位姿为 [x,y,z,w,p,r] 六维有限数。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="pose">待校验位姿，单位为 mm/deg。</param>
|
||||||
|
/// <param name="paramName">调用方参数名。</param>
|
||||||
|
private static void EnsurePoseVector(IReadOnlyList<double> pose, string paramName)
|
||||||
|
{
|
||||||
|
if (pose.Count != 6)
|
||||||
|
{
|
||||||
|
throw new ArgumentException("位姿必须为 [x,y,z,w,p,r] 六维数组。", paramName);
|
||||||
|
}
|
||||||
|
|
||||||
|
for (var index = 0; index < pose.Count; index++)
|
||||||
|
{
|
||||||
|
var value = pose[index];
|
||||||
|
if (double.IsNaN(value) || double.IsInfinity(value))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(paramName, $"第 {index} 个位姿值必须是有限数值。");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 将运行时位姿快照归一化为 J519 直角命令需要的 [x,y,z,w,p,r] 六维。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="pose">运行时返回的位姿数组。</param>
|
||||||
|
/// <returns>六维直角位姿。</returns>
|
||||||
|
private static IReadOnlyList<double> NormalizeRuntimePose(IReadOnlyList<double> pose)
|
||||||
|
{
|
||||||
|
if (pose.Count < 6)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("Runtime pose must contain at least [x,y,z,w,p,r].");
|
||||||
|
}
|
||||||
|
|
||||||
|
var normalized = pose.Take(6).ToArray();
|
||||||
|
EnsurePoseVector(normalized, nameof(pose));
|
||||||
|
return normalized;
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 根据 saveTrajectory 参数把规划结果点位写入运行目录 Config/Data/name。
|
/// 根据 saveTrajectory 参数把规划结果点位写入运行目录 Config/Data/name。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="name">飞拍轨迹名称。</param>
|
/// <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="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="robot">当前机器人模型。</param>
|
||||||
/// <param name="bundle">规划结果包。</param>
|
/// <param name="uploaded">已上传的飞拍轨迹。</param>
|
||||||
|
/// <param name="options">本次规划选项。</param>
|
||||||
|
/// <param name="settings">当前机器人兼容设置。</param>
|
||||||
|
/// <param name="executionBundle">运行时和 ActualSend 诊断使用的规划结果包。</param>
|
||||||
|
/// <param name="planningSpeedScale">规划速度倍率。</param>
|
||||||
|
/// <param name="speedRatio">本次运行时速度倍率。</param>
|
||||||
private void ExportFlyshotArtifactsIfRequested(
|
private void ExportFlyshotArtifactsIfRequested(
|
||||||
string name,
|
string name,
|
||||||
bool saveTrajectory,
|
bool saveTrajectory,
|
||||||
RobotProfile robot,
|
RobotProfile robot,
|
||||||
PlannedExecutionBundle bundle)
|
ControllerClientCompatUploadedTrajectory uploaded,
|
||||||
|
FlyshotExecutionOptions options,
|
||||||
|
CompatibilityRobotSettings settings,
|
||||||
|
PlannedExecutionBundle executionBundle,
|
||||||
|
double planningSpeedScale,
|
||||||
|
double speedRatio)
|
||||||
{
|
{
|
||||||
if (!saveTrajectory)
|
if (!saveTrajectory)
|
||||||
{
|
{
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
_artifactWriter.WriteUploadedFlyshot(name, robot, bundle);
|
// 旧格式 Joint/Cart 导出必须只反映 planning_speed_scale；ActualSend* 才反映当前运行时 speedRatio。
|
||||||
|
var exportPlanningBundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
|
||||||
|
robot,
|
||||||
|
uploaded,
|
||||||
|
new FlyshotExecutionOptions(
|
||||||
|
moveToStart: options.MoveToStart,
|
||||||
|
useCache: false,
|
||||||
|
saveTrajectory: options.SaveTrajectory,
|
||||||
|
method: options.Method,
|
||||||
|
wait: options.Wait),
|
||||||
|
settings,
|
||||||
|
planningSpeedScale,
|
||||||
|
speedRatio: 1.0);
|
||||||
|
_artifactWriter.WriteUploadedFlyshot(name, robot, exportPlanningBundle, executionBundle, speedRatio);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 为飞拍链路预先构建最终发送队列，确保运行时只消费已经离散校验通过的 8ms 点列。
|
||||||
|
/// </summary>
|
||||||
|
private static PlannedExecutionBundle PrepareFlyshotExecutionBundle(
|
||||||
|
RobotProfile robot,
|
||||||
|
PlannedExecutionBundle bundle,
|
||||||
|
double speedRatio)
|
||||||
|
{
|
||||||
|
var preparedExecution = FlyshotExecutionSendSequenceBuilder.Build(
|
||||||
|
robot,
|
||||||
|
bundle.ExecutionTrajectory,
|
||||||
|
bundle.Result,
|
||||||
|
robot.ServoPeriod.TotalSeconds,
|
||||||
|
requestedSpeedRatio: speedRatio,
|
||||||
|
samplingSpeedRatio: 1.0);
|
||||||
|
var preparedResult = new TrajectoryResult(
|
||||||
|
programName: bundle.Result.ProgramName,
|
||||||
|
method: bundle.Result.Method,
|
||||||
|
isValid: bundle.Result.IsValid,
|
||||||
|
duration: bundle.Result.Duration,
|
||||||
|
shotEvents: bundle.Result.ShotEvents,
|
||||||
|
triggerTimeline: bundle.Result.TriggerTimeline,
|
||||||
|
artifacts: bundle.Result.Artifacts,
|
||||||
|
failureReason: bundle.Result.FailureReason,
|
||||||
|
usedCache: bundle.Result.UsedCache,
|
||||||
|
originalWaypointCount: bundle.Result.OriginalWaypointCount,
|
||||||
|
plannedWaypointCount: bundle.Result.PlannedWaypointCount,
|
||||||
|
triggerSampleIndexOffsetCycles: bundle.Result.TriggerSampleIndexOffsetCycles,
|
||||||
|
denseJointTrajectory: bundle.Result.DenseJointTrajectory,
|
||||||
|
preparedFlyshotExecution: preparedExecution);
|
||||||
|
return new PlannedExecutionBundle(
|
||||||
|
bundle.PlannedTrajectory,
|
||||||
|
bundle.ShotTimeline,
|
||||||
|
preparedResult,
|
||||||
|
preparedExecution,
|
||||||
|
bundle.ExecutionTrajectory);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -829,6 +1140,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
|
|||||||
useDo: false,
|
useDo: false,
|
||||||
ioAddresses: Array.Empty<int>(),
|
ioAddresses: Array.Empty<int>(),
|
||||||
ioKeepCycles: 2,
|
ioKeepCycles: 2,
|
||||||
|
triggerSampleIndexOffsetCycles: 7,
|
||||||
accLimitScale: 1.0,
|
accLimitScale: 1.0,
|
||||||
jerkLimitScale: 1.0,
|
jerkLimitScale: 1.0,
|
||||||
adaptIcspTryNum: 5);
|
adaptIcspTryNum: 5);
|
||||||
|
|||||||
@@ -0,0 +1,62 @@
|
|||||||
|
namespace Flyshot.ControllerClientCompat;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 保存状态页需要的 ControllerClient 兼容层元数据快照，避免状态页连续读取多个受保护字段。
|
||||||
|
/// </summary>
|
||||||
|
public sealed record ControllerClientStatusSnapshotMetadata
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 初始化一份兼容层状态元数据快照。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="isSetup">当前是否已经完成机器人初始化。</param>
|
||||||
|
/// <param name="robotName">当前机器人名称；未初始化时为空。</param>
|
||||||
|
/// <param name="degreesOfFreedom">当前机器人自由度；未初始化时为 0。</param>
|
||||||
|
/// <param name="uploadedTrajectories">当前已上传轨迹名称快照。</param>
|
||||||
|
/// <param name="serverVersion">兼容服务端版本。</param>
|
||||||
|
/// <param name="clientVersion">兼容客户端版本。</param>
|
||||||
|
public ControllerClientStatusSnapshotMetadata(
|
||||||
|
bool isSetup,
|
||||||
|
string? robotName,
|
||||||
|
int degreesOfFreedom,
|
||||||
|
IReadOnlyList<string> uploadedTrajectories,
|
||||||
|
string serverVersion,
|
||||||
|
string clientVersion)
|
||||||
|
{
|
||||||
|
IsSetup = isSetup;
|
||||||
|
RobotName = robotName;
|
||||||
|
DegreesOfFreedom = degreesOfFreedom;
|
||||||
|
UploadedTrajectories = uploadedTrajectories.ToArray();
|
||||||
|
ServerVersion = serverVersion;
|
||||||
|
ClientVersion = clientVersion;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取当前是否已经完成机器人初始化。
|
||||||
|
/// </summary>
|
||||||
|
public bool IsSetup { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取当前机器人名称；未初始化时为空。
|
||||||
|
/// </summary>
|
||||||
|
public string? RobotName { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取当前机器人自由度；未初始化时为 0。
|
||||||
|
/// </summary>
|
||||||
|
public int DegreesOfFreedom { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取已上传轨迹名称数组快照。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<string> UploadedTrajectories { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取兼容服务端版本。
|
||||||
|
/// </summary>
|
||||||
|
public string ServerVersion { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取兼容客户端版本。
|
||||||
|
/// </summary>
|
||||||
|
public string ClientVersion { get; }
|
||||||
|
}
|
||||||
@@ -12,6 +12,22 @@ namespace Flyshot.ControllerClientCompat;
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
public sealed class ControllerClientTrajectoryOrchestrator
|
public sealed class ControllerClientTrajectoryOrchestrator
|
||||||
{
|
{
|
||||||
|
/// <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;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 平滑起停重定时混合系数：0 表示不平滑，1 表示完全使用平滑时间律。
|
||||||
|
/// 当前取值用于“弱平滑”，仅轻微拉伸首尾时间段，避免起停过慢。
|
||||||
|
/// </summary>
|
||||||
|
private const double SmoothStartStopBlend = 0.60;
|
||||||
|
|
||||||
private readonly ICspPlanner _icspPlanner;
|
private readonly ICspPlanner _icspPlanner;
|
||||||
private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
|
private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
|
||||||
private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
|
private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
|
||||||
@@ -22,11 +38,14 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
/// 初始化轨迹编排器。
|
/// 初始化轨迹编排器。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="logger">日志记录器；允许 null。</param>
|
/// <param name="logger">日志记录器；允许 null。</param>
|
||||||
public ControllerClientTrajectoryOrchestrator(ILogger<ControllerClientTrajectoryOrchestrator>? logger = null)
|
/// <param name="loggerFactory">日志工厂；允许 null。</param>
|
||||||
|
public ControllerClientTrajectoryOrchestrator(
|
||||||
|
ILogger<ControllerClientTrajectoryOrchestrator>? logger = null,
|
||||||
|
ILoggerFactory? loggerFactory = null)
|
||||||
{
|
{
|
||||||
_logger = logger;
|
_logger = logger;
|
||||||
_icspPlanner = new(logger: null);
|
_icspPlanner = new(logger: loggerFactory?.CreateLogger<ICspPlanner>());
|
||||||
_selfAdaptIcspPlanner = new(logger: null);
|
_selfAdaptIcspPlanner = new(logger: loggerFactory?.CreateLogger<SelfAdaptIcspPlanner>());
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -34,21 +53,26 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="robot">当前机器人配置。</param>
|
/// <param name="robot">当前机器人配置。</param>
|
||||||
/// <param name="waypoints">普通轨迹关节路点。</param>
|
/// <param name="waypoints">普通轨迹关节路点。</param>
|
||||||
|
/// <param name="options">执行参数。</param>
|
||||||
|
/// <param name="planningSpeedScale">规划速度倍率。</param>
|
||||||
|
/// <param name="speedRatio">本次执行速度倍率；普通轨迹在规划阶段折算进有效限速倍率。</param>
|
||||||
/// <returns>包含规划轨迹、空触发时间轴和执行结果的结果包。</returns>
|
/// <returns>包含规划轨迹、空触发时间轴和执行结果的结果包。</returns>
|
||||||
public PlannedExecutionBundle PlanOrdinaryTrajectory(
|
public PlannedExecutionBundle PlanOrdinaryTrajectory(
|
||||||
RobotProfile robot,
|
RobotProfile robot,
|
||||||
IReadOnlyList<IReadOnlyList<double>> waypoints,
|
IReadOnlyList<IReadOnlyList<double>> waypoints,
|
||||||
TrajectoryExecutionOptions? options = null,
|
TrajectoryExecutionOptions? options = null,
|
||||||
double planningSpeedScale = 1.0)
|
double planningSpeedScale = 1.0,
|
||||||
|
double speedRatio = 1.0)
|
||||||
{
|
{
|
||||||
ArgumentNullException.ThrowIfNull(robot);
|
ArgumentNullException.ThrowIfNull(robot);
|
||||||
ArgumentNullException.ThrowIfNull(waypoints);
|
ArgumentNullException.ThrowIfNull(waypoints);
|
||||||
options ??= new TrajectoryExecutionOptions();
|
options ??= new TrajectoryExecutionOptions();
|
||||||
var planningRobot = ApplyPlanningSpeedScale(robot, planningSpeedScale);
|
var effectivePlanningSpeedScale = ResolveEffectivePlanningSpeedScale(planningSpeedScale, speedRatio, "普通轨迹");
|
||||||
|
var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}, planningSpeedScale={PlanningSpeedScale}",
|
"PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}, planningSpeedScale={PlanningSpeedScale}, speedRatio={SpeedRatio}, effectivePlanningSpeedScale={EffectivePlanningSpeedScale}",
|
||||||
waypoints.Count, options.Method, planningSpeedScale);
|
waypoints.Count, options.Method, planningSpeedScale, speedRatio, effectivePlanningSpeedScale);
|
||||||
|
|
||||||
var program = CreateProgram(
|
var program = CreateProgram(
|
||||||
name: "ordinary-trajectory",
|
name: "ordinary-trajectory",
|
||||||
@@ -65,15 +89,22 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
saveTrajectoryArtifacts: options.SaveTrajectory);
|
saveTrajectoryArtifacts: options.SaveTrajectory);
|
||||||
|
|
||||||
var plannedTrajectory = PlanByMethod(request, method);
|
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 shotTimeline = new ShotTimeline(Array.Empty<ShotEvent>(), Array.Empty<TrajectoryDoEvent>());
|
||||||
var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
|
var result = CreateResult(
|
||||||
|
executionTrajectory,
|
||||||
|
shotTimeline,
|
||||||
|
denseJointTrajectory,
|
||||||
|
usedCache: false,
|
||||||
|
triggerSampleIndexOffsetCycles: 0);
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
|
"PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
|
||||||
result.Duration.TotalSeconds,
|
result.Duration.TotalSeconds,
|
||||||
result.DenseJointTrajectory?.Count ?? 0);
|
result.DenseJointTrajectory?.Count ?? 0);
|
||||||
|
|
||||||
return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
|
return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result, executionTrajectory: executionTrajectory);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -81,24 +112,38 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="robot">当前机器人配置。</param>
|
/// <param name="robot">当前机器人配置。</param>
|
||||||
/// <param name="uploaded">兼容层保存的上传轨迹。</param>
|
/// <param name="uploaded">兼容层保存的上传轨迹。</param>
|
||||||
|
/// <param name="options">执行参数。</param>
|
||||||
|
/// <param name="settings">兼容层机器人设置。</param>
|
||||||
|
/// <param name="planningSpeedScale">规划速度倍率。</param>
|
||||||
|
/// <param name="speedRatio">本次飞拍使用的速度倍率；为空时使用配置默认值。</param>
|
||||||
/// <returns>包含规划轨迹、触发时间轴和执行结果的结果包。</returns>
|
/// <returns>包含规划轨迹、触发时间轴和执行结果的结果包。</returns>
|
||||||
public PlannedExecutionBundle PlanUploadedFlyshot(
|
public PlannedExecutionBundle PlanUploadedFlyshot(
|
||||||
RobotProfile robot,
|
RobotProfile robot,
|
||||||
ControllerClientCompatUploadedTrajectory uploaded,
|
ControllerClientCompatUploadedTrajectory uploaded,
|
||||||
FlyshotExecutionOptions? options = null,
|
FlyshotExecutionOptions? options = null,
|
||||||
CompatibilityRobotSettings? settings = null,
|
CompatibilityRobotSettings? settings = null,
|
||||||
double? planningSpeedScale = null)
|
double? planningSpeedScale = null,
|
||||||
|
double? speedRatio = null)
|
||||||
{
|
{
|
||||||
ArgumentNullException.ThrowIfNull(robot);
|
ArgumentNullException.ThrowIfNull(robot);
|
||||||
ArgumentNullException.ThrowIfNull(uploaded);
|
ArgumentNullException.ThrowIfNull(uploaded);
|
||||||
options ??= new FlyshotExecutionOptions();
|
options ??= new FlyshotExecutionOptions();
|
||||||
settings ??= CreateDefaultRobotSettings();
|
settings ??= CreateDefaultRobotSettings();
|
||||||
var effectivePlanningSpeedScale = planningSpeedScale ?? settings.PlanningSpeedScale;
|
var requestedSpeedRatio = speedRatio ?? settings.SpeedRatio;
|
||||||
|
var configuredPlanningSpeedScale = planningSpeedScale ?? settings.PlanningSpeedScale;
|
||||||
|
var effectivePlanningSpeedScale = ResolveEffectivePlanningSpeedScale(configuredPlanningSpeedScale, requestedSpeedRatio, "飞拍");
|
||||||
var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
|
var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}",
|
"PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}, speedRatio={SpeedRatio}, effectivePlanningSpeedScale={EffectivePlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}",
|
||||||
uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache, effectivePlanningSpeedScale);
|
uploaded.Name,
|
||||||
|
uploaded.Waypoints.Count,
|
||||||
|
options.Method,
|
||||||
|
options.UseCache,
|
||||||
|
configuredPlanningSpeedScale,
|
||||||
|
requestedSpeedRatio,
|
||||||
|
effectivePlanningSpeedScale,
|
||||||
|
settings.SmoothStartStopTiming);
|
||||||
|
|
||||||
var program = CreateProgram(
|
var program = CreateProgram(
|
||||||
name: uploaded.Name,
|
name: uploaded.Name,
|
||||||
@@ -112,11 +157,9 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
|
if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
|
||||||
{
|
{
|
||||||
_logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
|
_logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
|
||||||
|
|
||||||
// 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。
|
// 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(
|
return cachedBundle;
|
||||||
cachedBundle.PlannedTrajectory,
|
|
||||||
cachedBundle.ShotTimeline,
|
|
||||||
CreateResult(cachedBundle.PlannedTrajectory, cachedBundle.ShotTimeline, usedCache: true));
|
|
||||||
}
|
}
|
||||||
|
|
||||||
var request = new TrajectoryRequest(
|
var request = new TrajectoryRequest(
|
||||||
@@ -128,13 +171,20 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
useCache: options.UseCache);
|
useCache: options.UseCache);
|
||||||
|
|
||||||
var plannedTrajectory = PlanByMethod(request, method, settings);
|
var plannedTrajectory = PlanByMethod(request, method, settings);
|
||||||
|
var smoothedExecutionTrajectory = ApplyExecutionTiming(plannedTrajectory, settings);
|
||||||
|
var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref smoothedExecutionTrajectory, shapeTrajectoryEdges: false);
|
||||||
var shotTimeline = _shotTimelineBuilder.Build(
|
var shotTimeline = _shotTimelineBuilder.Build(
|
||||||
plannedTrajectory,
|
smoothedExecutionTrajectory,
|
||||||
holdCycles: settings.IoKeepCycles,
|
holdCycles: settings.IoKeepCycles,
|
||||||
samplePeriod: planningRobot.ServoPeriod,
|
samplePeriod: planningRobot.ServoPeriod,
|
||||||
useDo: settings.UseDo);
|
useDo: settings.UseDo);
|
||||||
var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
|
var result = CreateResult(
|
||||||
var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
|
smoothedExecutionTrajectory,
|
||||||
|
shotTimeline,
|
||||||
|
denseJointTrajectory,
|
||||||
|
usedCache: false,
|
||||||
|
triggerSampleIndexOffsetCycles: settings.TriggerSampleIndexOffsetCycles);
|
||||||
|
var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result, executionTrajectory: smoothedExecutionTrajectory);
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"PlanUploadedFlyshot 完成: name={Name}, 时长={Duration}s, 触发事件数={TriggerCount}, 采样点数={SampleCount}",
|
"PlanUploadedFlyshot 完成: name={Name}, 时长={Duration}s, 触发事件数={TriggerCount}, 采样点数={SampleCount}",
|
||||||
@@ -236,7 +286,9 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
hash.Add(options.SaveTrajectory);
|
hash.Add(options.SaveTrajectory);
|
||||||
hash.Add(settings.UseDo);
|
hash.Add(settings.UseDo);
|
||||||
hash.Add(settings.IoKeepCycles);
|
hash.Add(settings.IoKeepCycles);
|
||||||
|
hash.Add(settings.TriggerSampleIndexOffsetCycles);
|
||||||
hash.Add(settings.AdaptIcspTryNum);
|
hash.Add(settings.AdaptIcspTryNum);
|
||||||
|
hash.Add(settings.SmoothStartStopTiming);
|
||||||
|
|
||||||
foreach (var limit in robot.JointLimits)
|
foreach (var limit in robot.JointLimits)
|
||||||
{
|
{
|
||||||
@@ -285,11 +337,43 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
useDo: true,
|
useDo: true,
|
||||||
ioAddresses: Array.Empty<int>(),
|
ioAddresses: Array.Empty<int>(),
|
||||||
ioKeepCycles: 0,
|
ioKeepCycles: 0,
|
||||||
|
triggerSampleIndexOffsetCycles: 7,
|
||||||
accLimitScale: 1.0,
|
accLimitScale: 1.0,
|
||||||
jerkLimitScale: 1.0,
|
jerkLimitScale: 1.0,
|
||||||
adaptIcspTryNum: 5);
|
adaptIcspTryNum: 5);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 解析飞拍生成轨迹时真正使用的规划速度倍率。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="planningSpeedScale">配置或调用方传入的规划倍率。</param>
|
||||||
|
/// <param name="speedRatio">本次执行速度倍率。</param>
|
||||||
|
/// <returns>用于缩放规划关节限制的有效倍率。</returns>
|
||||||
|
private static double ResolveEffectivePlanningSpeedScale(double planningSpeedScale, double speedRatio, string trajectoryKind)
|
||||||
|
{
|
||||||
|
if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(speedRatio), $"{trajectoryKind}速度倍率必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
// 生成轨迹时把执行倍率折算进规划限制，保证 planning_speed_scale * speed_ratio 相同的配置产出同一条轨迹。
|
||||||
|
return planningSpeedScale * speedRatio;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
/// <summary>
|
||||||
/// 按规划全局速度倍率生成规划专用机器人约束。
|
/// 按规划全局速度倍率生成规划专用机器人约束。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -308,7 +392,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
return robot;
|
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。
|
// speed_ratio 已在调用方折算到规划倍率中；运行时只消费已经生成好的 8ms 稠密轨迹。
|
||||||
var scaledLimits = robot.JointLimits
|
var scaledLimits = robot.JointLimits
|
||||||
.Select(limit => new JointLimit(
|
.Select(limit => new JointLimit(
|
||||||
limit.JointName,
|
limit.JointName,
|
||||||
@@ -357,12 +441,13 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
/// <param name="plannedTrajectory">规划后的轨迹。</param>
|
/// <param name="plannedTrajectory">规划后的轨迹。</param>
|
||||||
/// <param name="shotTimeline">触发时间轴。</param>
|
/// <param name="shotTimeline">触发时间轴。</param>
|
||||||
/// <returns>运行时执行结果描述。</returns>
|
/// <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,
|
||||||
|
int triggerSampleIndexOffsetCycles)
|
||||||
{
|
{
|
||||||
var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
|
|
||||||
plannedTrajectory,
|
|
||||||
samplePeriod: plannedTrajectory.Robot.ServoPeriod.TotalSeconds);
|
|
||||||
|
|
||||||
return new TrajectoryResult(
|
return new TrajectoryResult(
|
||||||
programName: plannedTrajectory.OriginalProgram.Name,
|
programName: plannedTrajectory.OriginalProgram.Name,
|
||||||
method: plannedTrajectory.Method,
|
method: plannedTrajectory.Method,
|
||||||
@@ -375,6 +460,180 @@ public sealed class ControllerClientTrajectoryOrchestrator
|
|||||||
usedCache: usedCache,
|
usedCache: usedCache,
|
||||||
originalWaypointCount: plannedTrajectory.OriginalWaypointCount,
|
originalWaypointCount: plannedTrajectory.OriginalWaypointCount,
|
||||||
plannedWaypointCount: plannedTrajectory.PlannedWaypointCount,
|
plannedWaypointCount: plannedTrajectory.PlannedWaypointCount,
|
||||||
|
triggerSampleIndexOffsetCycles: triggerSampleIndexOffsetCycles,
|
||||||
denseJointTrajectory: denseJointTrajectory);
|
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,
|
||||||
|
validateJerk: false);
|
||||||
|
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>
|
||||||
|
/// 为飞拍执行生成平滑起停时间轴（仅重定时，不改几何路点）。
|
||||||
|
/// 该方法保持 <see cref="PlannedTrajectory.PlannedWaypoints"/> 不变，只重映射 <see cref="PlannedTrajectory.WaypointTimes"/>，
|
||||||
|
/// 让轨迹在起点和终点附近具有更柔和的速度变化，从而降低“突然起步/突然收尾”带来的离散差分尖峰。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="plannedTrajectory">规划器输出的原始轨迹（通常是线性时间轴）。</param>
|
||||||
|
/// <returns>
|
||||||
|
/// 若满足平滑条件，则返回新的重定时轨迹；若路点数量不足或总时长无效，则直接返回输入轨迹。
|
||||||
|
/// </returns>
|
||||||
|
private static PlannedTrajectory ApplySmoothStartStopTiming(PlannedTrajectory plannedTrajectory)
|
||||||
|
{
|
||||||
|
var originalTimes = plannedTrajectory.WaypointTimes;
|
||||||
|
// 至少需要“起点-中间点-终点”三类点，才有可平滑的中间区间。
|
||||||
|
if (originalTimes.Count < 3)
|
||||||
|
{
|
||||||
|
return plannedTrajectory;
|
||||||
|
}
|
||||||
|
|
||||||
|
var totalDuration = originalTimes[^1];
|
||||||
|
// 轨迹总时长必须为正，避免后续归一化进度出现除零或无意义映射。
|
||||||
|
if (totalDuration <= 0.0)
|
||||||
|
{
|
||||||
|
return plannedTrajectory;
|
||||||
|
}
|
||||||
|
|
||||||
|
var smoothedTimes = new double[originalTimes.Count];
|
||||||
|
// 强制固定边界：起点仍在 0，终点仍在总时长，保证任务总耗时不变。
|
||||||
|
smoothedTimes[0] = 0.0;
|
||||||
|
smoothedTimes[^1] = totalDuration;
|
||||||
|
|
||||||
|
for (var index = 1; index < originalTimes.Count - 1; index++)
|
||||||
|
{
|
||||||
|
// 把原始时刻归一化到 [0, 1]，用于统一时间律变换。
|
||||||
|
var normalizedProgress = originalTimes[index] / totalDuration;
|
||||||
|
// 先求完整平滑时间律对应的时刻，再与原线性时刻按比例混合。
|
||||||
|
// 这里采用弱平滑（blend=0.35）：保留大部分原节奏，仅轻微降低首尾突变。
|
||||||
|
var smoothedProgress = InvertSmoothStartStopProgress(normalizedProgress);
|
||||||
|
var blendedProgress = ((1.0 - SmoothStartStopBlend) * normalizedProgress)
|
||||||
|
+ (SmoothStartStopBlend * smoothedProgress);
|
||||||
|
smoothedTimes[index] = totalDuration * blendedProgress;
|
||||||
|
}
|
||||||
|
|
||||||
|
var segmentDurations = new double[smoothedTimes.Length - 1];
|
||||||
|
for (var index = 0; index < segmentDurations.Length; index++)
|
||||||
|
{
|
||||||
|
// 重建每段持续时间，供后续稠密采样和限幅检查使用。
|
||||||
|
segmentDurations[index] = smoothedTimes[index + 1] - smoothedTimes[index];
|
||||||
|
}
|
||||||
|
|
||||||
|
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>
|
||||||
|
/// 反解平滑时间律进度：给定目标进度 p，求满足 f(t)=p 的 t。
|
||||||
|
/// 其中 f(t) 由 <see cref="EvaluateSmoothStartStopProgress"/> 给出，是单调递增的 7 次 smootherstep 曲线，
|
||||||
|
/// 通过二分法可稳定得到对应的归一化时间，避免显式求高次方程根带来的复杂性和数值不稳定。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="normalizedProgress">目标归一化进度，理论范围 [0, 1]。</param>
|
||||||
|
/// <returns>与目标进度对应的归一化时间，范围 [0, 1]。</returns>
|
||||||
|
private static double InvertSmoothStartStopProgress(double normalizedProgress)
|
||||||
|
{
|
||||||
|
// 防御式裁剪，避免上游浮点误差将进度推到区间外。
|
||||||
|
var target = Math.Clamp(normalizedProgress, 0.0, 1.0);
|
||||||
|
var low = 0.0;
|
||||||
|
var high = 1.0;
|
||||||
|
// 固定迭代次数确保耗时可预测；40 次足以把区间收敛到工程可用精度。
|
||||||
|
for (var iteration = 0; iteration < 40; iteration++)
|
||||||
|
{
|
||||||
|
var middle = (low + high) / 2.0;
|
||||||
|
var progress = EvaluateSmoothStartStopProgress(middle);
|
||||||
|
// f(middle) 小于目标，说明根在右半区间；否则在左半区间。
|
||||||
|
if (progress < target)
|
||||||
|
{
|
||||||
|
low = middle;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
high = middle;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return (low + high) / 2.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 计算 7 次 smootherstep 的进度函数值 f(u)。
|
||||||
|
/// 该函数在 u=0 和 u=1 处具有更高阶导数连续性，可让起停段速度变化更平滑，
|
||||||
|
/// 适合用于飞拍轨迹的时间重参数化，减少离散导数在边界处的突变。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="normalizedTime">归一化时间 u，理论范围 [0, 1]。</param>
|
||||||
|
/// <returns>归一化进度 f(u)，范围 [0, 1]。</returns>
|
||||||
|
private static double EvaluateSmoothStartStopProgress(double normalizedTime)
|
||||||
|
{
|
||||||
|
// 先裁剪再计算多项式，确保数值稳定且不受外部越界输入影响。
|
||||||
|
var u = Math.Clamp(normalizedTime, 0.0, 1.0);
|
||||||
|
var u2 = u * u;
|
||||||
|
var u3 = u2 * u;
|
||||||
|
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);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -5,6 +5,7 @@ using Flyshot.Core.Planning.Export;
|
|||||||
using Flyshot.Core.Planning.Kinematics;
|
using Flyshot.Core.Planning.Kinematics;
|
||||||
using Flyshot.Core.Planning.Sampling;
|
using Flyshot.Core.Planning.Sampling;
|
||||||
using Microsoft.Extensions.Logging;
|
using Microsoft.Extensions.Logging;
|
||||||
|
using System.Text;
|
||||||
|
|
||||||
namespace Flyshot.ControllerClientCompat;
|
namespace Flyshot.ControllerClientCompat;
|
||||||
|
|
||||||
@@ -18,6 +19,11 @@ public sealed class FlyshotTrajectoryArtifactWriter
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
private const double LegacyDetailSamplePeriodSeconds = 0.016;
|
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 ControllerClientCompatOptions _options;
|
||||||
private readonly RobotModelLoader _robotModelLoader;
|
private readonly RobotModelLoader _robotModelLoader;
|
||||||
private readonly ILogger<FlyshotTrajectoryArtifactWriter>? _logger;
|
private readonly ILogger<FlyshotTrajectoryArtifactWriter>? _logger;
|
||||||
@@ -43,8 +49,27 @@ public sealed class FlyshotTrajectoryArtifactWriter
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="trajectoryName">飞拍轨迹名称。</param>
|
/// <param name="trajectoryName">飞拍轨迹名称。</param>
|
||||||
/// <param name="robot">当前机器人配置。</param>
|
/// <param name="robot">当前机器人配置。</param>
|
||||||
/// <param name="bundle">规划结果包。</param>
|
/// <param name="bundle">规划结果包；旧规划导出和实发诊断使用同一份视图。</param>
|
||||||
public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle)
|
/// <param name="speedRatio">请求速度倍率，仅作为诊断列保留；最终采样倍率已在规划阶段处理。</param>
|
||||||
|
public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle, double speedRatio = 1.0)
|
||||||
|
{
|
||||||
|
WriteUploadedFlyshot(trajectoryName, robot, bundle, bundle, speedRatio);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 将飞拍规划结果导出到 Config/Data/name，并显式区分旧规划导出视图和实发诊断视图。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="trajectoryName">飞拍轨迹名称。</param>
|
||||||
|
/// <param name="robot">当前机器人配置。</param>
|
||||||
|
/// <param name="exportPlanningBundle">旧格式规划导出使用的结果包，不应包含运行时 speedRatio 折算。</param>
|
||||||
|
/// <param name="executionBundle">实发诊断使用的结果包，应与运行时最终发送队列保持一致。</param>
|
||||||
|
/// <param name="speedRatio">请求速度倍率，仅作为 ActualSend 诊断列保留。</param>
|
||||||
|
public void WriteUploadedFlyshot(
|
||||||
|
string trajectoryName,
|
||||||
|
RobotProfile robot,
|
||||||
|
PlannedExecutionBundle exportPlanningBundle,
|
||||||
|
PlannedExecutionBundle executionBundle,
|
||||||
|
double speedRatio = 1.0)
|
||||||
{
|
{
|
||||||
if (string.IsNullOrWhiteSpace(trajectoryName))
|
if (string.IsNullOrWhiteSpace(trajectoryName))
|
||||||
{
|
{
|
||||||
@@ -52,35 +77,158 @@ public sealed class FlyshotTrajectoryArtifactWriter
|
|||||||
}
|
}
|
||||||
|
|
||||||
ArgumentNullException.ThrowIfNull(robot);
|
ArgumentNullException.ThrowIfNull(robot);
|
||||||
ArgumentNullException.ThrowIfNull(bundle);
|
ArgumentNullException.ThrowIfNull(exportPlanningBundle);
|
||||||
|
ArgumentNullException.ThrowIfNull(executionBundle);
|
||||||
|
|
||||||
var outputDir = Path.Combine(_options.ResolveConfigRoot(), "Data", SanitizeDirectoryName(trajectoryName));
|
var outputDir = Path.Combine(_options.ResolveConfigRoot(), "Data", SanitizeDirectoryName(trajectoryName));
|
||||||
Directory.CreateDirectory(outputDir);
|
Directory.CreateDirectory(outputDir);
|
||||||
|
if (exportPlanningBundle.Result.DenseJointTrajectory is null)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("导出飞拍旧格式规划工件前必须先生成规划明细轨迹。");
|
||||||
|
}
|
||||||
|
|
||||||
// 明细文件对齐旧 Data 目录的 16ms 采样；运行时 J519 仍可使用自己的 8ms 伺服采样。
|
// 旧格式规划文件固定使用不含运行时 speedRatio 的规划视图，避免和 ActualSend 实发诊断混在一起。
|
||||||
var kinematicsModel = _robotModelLoader.LoadKinematicsModel(robot.ModelPath);
|
var kinematicsModel = _robotModelLoader.LoadKinematicsModel(robot.ModelPath);
|
||||||
var jointTrajectory = BuildJointRows(bundle.PlannedTrajectory);
|
var jointTrajectory = BuildJointRows(exportPlanningBundle.PlannedTrajectory);
|
||||||
var jointDetailTrajectory = TrajectorySampler.SampleJointTrajectory(
|
_logger?.LogInformation("规划之后的轨迹点位数量为:{}", jointTrajectory.Count);
|
||||||
bundle.PlannedTrajectory,
|
var executionDenseTrajectory = exportPlanningBundle.Result.DenseJointTrajectory;
|
||||||
samplePeriod: LegacyDetailSamplePeriodSeconds);
|
var jointDetailTrajectory = DownsampleDenseRows(
|
||||||
var cartTrajectory = BuildCartesianRows(bundle.PlannedTrajectory, kinematicsModel);
|
executionDenseTrajectory,
|
||||||
var cartDetailTrajectory = TrajectorySampler.SampleCartesianTrajectory(
|
samplePeriodSeconds: LegacyDetailSamplePeriodSeconds);
|
||||||
bundle.PlannedTrajectory,
|
var cartTrajectory = BuildCartesianRows(exportPlanningBundle.PlannedTrajectory, kinematicsModel);
|
||||||
kinematicsModel,
|
var cartDetailTrajectory = BuildCartesianRowsFromJointDense(jointDetailTrajectory, kinematicsModel);
|
||||||
samplePeriod: LegacyDetailSamplePeriodSeconds);
|
|
||||||
|
|
||||||
TrajectoryExporter.WriteJointTrajectory(Path.Combine(outputDir, "JointTraj.txt"), jointTrajectory);
|
TrajectoryExporter.WriteJointTrajectory(Path.Combine(outputDir, "JointTraj.txt"), jointTrajectory);
|
||||||
TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory);
|
TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory);
|
||||||
TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory);
|
TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory);
|
||||||
TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory);
|
TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory);
|
||||||
TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), bundle.ShotTimeline.ShotEvents);
|
WriteActualSendArtifacts(outputDir, robot, executionBundle.Result, speedRatio);
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}",
|
"saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}, speedRatio={SpeedRatio}",
|
||||||
trajectoryName,
|
trajectoryName,
|
||||||
outputDir,
|
outputDir,
|
||||||
jointTrajectory.Count,
|
jointTrajectory.Count,
|
||||||
jointDetailTrajectory.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);
|
||||||
|
|
||||||
|
var preparedExecution = result.PreparedFlyshotExecution;
|
||||||
|
if (result.DenseJointTrajectory is null && preparedExecution is null)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
var samples = preparedExecution is null
|
||||||
|
? J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||||
|
result.DenseJointTrajectory!,
|
||||||
|
result.Duration.TotalSeconds,
|
||||||
|
ActualSendServoPeriodSeconds,
|
||||||
|
speedRatio: 1.0)
|
||||||
|
: preparedExecution.Samples.Select(static sample => new J519SendSample(
|
||||||
|
sample.SampleIndex,
|
||||||
|
sample.SendTime,
|
||||||
|
sample.TrajectoryTime,
|
||||||
|
sample.SpeedRatio,
|
||||||
|
sample.JointsDegrees)).ToArray();
|
||||||
|
var triggerBindings = preparedExecution is null
|
||||||
|
? TriggerSampleBinder.Bind(
|
||||||
|
result.TriggerTimeline,
|
||||||
|
samples,
|
||||||
|
result.TriggerSampleIndexOffsetCycles)
|
||||||
|
: preparedExecution.TriggerBindings.Select(static binding =>
|
||||||
|
new TriggerSampleBinding(
|
||||||
|
binding.Trigger,
|
||||||
|
new J519SendSample(
|
||||||
|
binding.Sample.SampleIndex,
|
||||||
|
binding.Sample.SendTime,
|
||||||
|
binding.Sample.TrajectoryTime,
|
||||||
|
binding.Sample.SpeedRatio,
|
||||||
|
binding.Sample.JointsDegrees),
|
||||||
|
binding.SampleIndex,
|
||||||
|
binding.FoundInWindow)).ToArray();
|
||||||
|
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||||
|
robot,
|
||||||
|
samples,
|
||||||
|
trajectoryName: result.ProgramName,
|
||||||
|
validateJerk: false);
|
||||||
|
var jointRows = new List<IReadOnlyList<double>>(samples.Count);
|
||||||
|
List<IReadOnlyList<double>> timingRows = preparedExecution is null
|
||||||
|
? new List<IReadOnlyList<double>>(samples.Count)
|
||||||
|
: preparedExecution.TimingRows.Select(static row => (IReadOnlyList<double>)row.ToArray()).ToList();
|
||||||
|
List<IReadOnlyList<double>> jerkRows = preparedExecution is null
|
||||||
|
? []
|
||||||
|
: preparedExecution.JerkRows.Select(static row => (IReadOnlyList<double>)row.ToArray()).ToList();
|
||||||
|
double? previousSendTime = null;
|
||||||
|
double[]? previousJoints = null;
|
||||||
|
double[]? previousVelocity = null;
|
||||||
|
double[]? previousAcceleration = null;
|
||||||
|
|
||||||
|
foreach (var sample in samples)
|
||||||
|
{
|
||||||
|
jointRows.Add(BuildActualSendJointRow(sample.SendTime, sample.JointsDegrees));
|
||||||
|
if (preparedExecution is null)
|
||||||
|
{
|
||||||
|
timingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample, speedRatio, stretchIterationCount: 0));
|
||||||
|
|
||||||
|
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);
|
||||||
|
TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), result.ShotEvents, triggerBindings);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
/// <summary>
|
||||||
@@ -124,6 +272,63 @@ public sealed class FlyshotTrajectoryArtifactWriter
|
|||||||
return rows;
|
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>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
|
|||||||
@@ -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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -193,9 +193,13 @@ public sealed class JsonFlyshotTrajectoryStore
|
|||||||
["use_do"] = JsonValue.Create(settings.UseDo),
|
["use_do"] = JsonValue.Create(settings.UseDo),
|
||||||
["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses),
|
["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses),
|
||||||
["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
|
["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
|
||||||
|
["trigger_sample_index_offset_cycles"] = JsonValue.Create(settings.TriggerSampleIndexOffsetCycles),
|
||||||
["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
|
["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
|
||||||
["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
|
["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),
|
||||||
|
["speed_ratio"] = JsonValue.Create(settings.SpeedRatio),
|
||||||
|
["smooth_start_stop_timing"] = JsonValue.Create(settings.SmoothStartStopTiming)
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -95,6 +95,12 @@ public interface IControllerClientCompatService
|
|||||||
/// <returns>控制器运行时状态快照。</returns>
|
/// <returns>控制器运行时状态快照。</returns>
|
||||||
ControllerStateSnapshot GetControllerSnapshot();
|
ControllerStateSnapshot GetControllerSnapshot();
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 读取状态页所需的兼容层元数据快照。
|
||||||
|
/// </summary>
|
||||||
|
/// <returns>兼容层元数据快照。</returns>
|
||||||
|
ControllerClientStatusSnapshotMetadata GetStatusSnapshotMetadata();
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取当前速度倍率。
|
/// 获取当前速度倍率。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -157,6 +163,12 @@ public interface IControllerClientCompatService
|
|||||||
/// <param name="jointPositions">目标关节位置。</param>
|
/// <param name="jointPositions">目标关节位置。</param>
|
||||||
void MoveJoint(IReadOnlyList<double> jointPositions);
|
void MoveJoint(IReadOnlyList<double> jointPositions);
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 按直角坐标移动到目标 TCP 位姿。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="pose">目标位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
|
||||||
|
void MovePose(IReadOnlyList<double> pose);
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 执行普通轨迹。
|
/// 执行普通轨迹。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
|||||||
@@ -3,59 +3,66 @@ using Microsoft.Extensions.Logging;
|
|||||||
|
|
||||||
namespace Flyshot.ControllerClientCompat;
|
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
|
internal static class MoveJointTrajectoryGenerator
|
||||||
{
|
{
|
||||||
private const double BaseMoveJointDurationSeconds = 0.320;
|
/// <summary>
|
||||||
private const double VelocityShapeCoefficient = 2.0759961613199973;
|
/// 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。
|
||||||
private const double AccelerationShapeCoefficient = 7.986313199999984;
|
/// </summary>
|
||||||
private const double JerkShapeCoefficient = 36.12609273600853;
|
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;
|
private const int MaxMoveJointSampleCount = 1_000_000;
|
||||||
|
|
||||||
private static readonly double[] CapturedMvpointAlpha =
|
/// <summary>
|
||||||
[
|
/// 离散限位校验允许的浮点容差。
|
||||||
0.000000000000,
|
/// </summary>
|
||||||
0.000012196163,
|
private const double DiscreteLimitTolerance = 1.000001;
|
||||||
0.000106156906,
|
|
||||||
0.000764380061,
|
|
||||||
0.002550804028,
|
|
||||||
0.006029689194,
|
|
||||||
0.011765134027,
|
|
||||||
0.020321400844,
|
|
||||||
0.032262426551,
|
|
||||||
0.048152469303,
|
|
||||||
0.068555498563,
|
|
||||||
0.093895155669,
|
|
||||||
0.124210027377,
|
|
||||||
0.159174512929,
|
|
||||||
0.198230386318,
|
|
||||||
0.240813559900,
|
|
||||||
0.286359937276,
|
|
||||||
0.334305411725,
|
|
||||||
0.384085546646,
|
|
||||||
0.435136609163,
|
|
||||||
0.486894129077,
|
|
||||||
0.538794033110,
|
|
||||||
0.590272360135,
|
|
||||||
0.640764719629,
|
|
||||||
0.689707151220,
|
|
||||||
0.736535405849,
|
|
||||||
0.780685354316,
|
|
||||||
0.821592775628,
|
|
||||||
0.858693734065,
|
|
||||||
0.891423926949,
|
|
||||||
0.919286047395,
|
|
||||||
0.942156722091,
|
|
||||||
0.960255163676,
|
|
||||||
0.974119666692,
|
|
||||||
0.984314536393,
|
|
||||||
0.991403790959,
|
|
||||||
0.995951593494,
|
|
||||||
0.998522142663,
|
|
||||||
0.999679443354,
|
|
||||||
0.999987892657,
|
|
||||||
1.000000000000
|
|
||||||
];
|
|
||||||
|
|
||||||
|
/// <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 缩放规划限位，并将时长对齐到固定伺服采样间隔
|
||||||
|
/// 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；在生成阶段折算进有效关节限位。</param>
|
||||||
|
/// <param name="logger">可选的诊断日志。</param>
|
||||||
public static TrajectoryResult CreateResult(
|
public static TrajectoryResult CreateResult(
|
||||||
RobotProfile robot,
|
RobotProfile robot,
|
||||||
IReadOnlyList<double> startJoints,
|
IReadOnlyList<double> startJoints,
|
||||||
@@ -77,14 +84,34 @@ internal static class MoveJointTrajectoryGenerator
|
|||||||
throw new InvalidOperationException($"MoveJoint expects {robot.DegreesOfFreedom} joints.");
|
throw new InvalidOperationException($"MoveJoint expects {robot.DegreesOfFreedom} joints.");
|
||||||
}
|
}
|
||||||
|
|
||||||
var requestedDurationSeconds = ResolveDurationSeconds(robot, startJoints, targetJoints);
|
var planningRobot = ApplySpeedRatioToJointLimits(robot, speedRatio);
|
||||||
var samplePeriodSeconds = robot.ServoPeriod.TotalSeconds * speedRatio;
|
var requestedDurationSeconds = ResolveDurationSeconds(planningRobot, startJoints, targetJoints);
|
||||||
|
var samplePeriodSeconds = robot.ServoPeriod.TotalSeconds;
|
||||||
var durationSeconds = AlignDurationToServoStep(requestedDurationSeconds, samplePeriodSeconds);
|
var durationSeconds = AlignDurationToServoStep(requestedDurationSeconds, samplePeriodSeconds);
|
||||||
var denseJointTrajectory = GenerateDenseTrajectory(startJoints, targetJoints, durationSeconds, samplePeriodSeconds);
|
var denseJointTrajectory = GenerateDenseTrajectory(startJoints, targetJoints, durationSeconds, samplePeriodSeconds);
|
||||||
|
|
||||||
|
var stretchCount = 0;
|
||||||
|
while (!SatisfiesDiscreteJointLimits(planningRobot, 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(
|
logger?.LogDebug(
|
||||||
"MoveJointTrajectoryGenerator: 请求时长={RequestedDuration:F4}s, 对齐后时长={Duration:F4}s, speedRatio={SpeedRatio}, 采样周期={SamplePeriod:F6}s, 采样数={SampleCount}",
|
"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);
|
requestedDurationSeconds,
|
||||||
|
durationSeconds,
|
||||||
|
speedRatio,
|
||||||
|
samplePeriodSeconds,
|
||||||
|
denseJointTrajectory.Count,
|
||||||
|
stretchCount);
|
||||||
|
|
||||||
return new TrajectoryResult(
|
return new TrajectoryResult(
|
||||||
programName: "move-joint",
|
programName: "move-joint",
|
||||||
@@ -101,9 +128,46 @@ internal static class MoveJointTrajectoryGenerator
|
|||||||
denseJointTrajectory: denseJointTrajectory);
|
denseJointTrajectory: denseJointTrajectory);
|
||||||
}
|
}
|
||||||
|
|
||||||
internal static double ResolveDurationSeconds(RobotProfile robot, IReadOnlyList<double> startJoints, IReadOnlyList<double> targetJoints)
|
/// <summary>
|
||||||
|
/// 将执行速度倍率折算为 MoveJoint 规划限位，保持最终稠密轨迹仍按物理 8ms 周期生成。
|
||||||
|
/// </summary>
|
||||||
|
private static RobotProfile ApplySpeedRatioToJointLimits(RobotProfile robot, double speedRatio)
|
||||||
{
|
{
|
||||||
var duration = BaseMoveJointDurationSeconds;
|
if (Math.Abs(speedRatio - 1.0) < 1e-12)
|
||||||
|
{
|
||||||
|
return robot;
|
||||||
|
}
|
||||||
|
|
||||||
|
var scaledLimits = robot.JointLimits
|
||||||
|
.Select(limit => new JointLimit(
|
||||||
|
limit.JointName,
|
||||||
|
limit.VelocityLimit * speedRatio,
|
||||||
|
limit.AccelerationLimit * speedRatio * speedRatio,
|
||||||
|
limit.JerkLimit * speedRatio * speedRatio * speedRatio))
|
||||||
|
.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>
|
||||||
|
/// 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++)
|
for (var index = 0; index < robot.DegreesOfFreedom; index++)
|
||||||
{
|
{
|
||||||
@@ -114,9 +178,9 @@ internal static class MoveJointTrajectoryGenerator
|
|||||||
}
|
}
|
||||||
|
|
||||||
var limit = robot.JointLimits[index];
|
var limit = robot.JointLimits[index];
|
||||||
var velocityDuration = distance * VelocityShapeCoefficient / limit.VelocityLimit;
|
var velocityDuration = distance * SmoothPtpVelocityShapeCoefficient / limit.VelocityLimit;
|
||||||
var accelerationDuration = Math.Sqrt(distance * AccelerationShapeCoefficient / limit.AccelerationLimit);
|
var accelerationDuration = Math.Sqrt(distance * SmoothPtpAccelerationShapeCoefficient / limit.AccelerationLimit);
|
||||||
var jerkDuration = Math.Cbrt(distance * JerkShapeCoefficient / limit.JerkLimit);
|
var jerkDuration = Math.Cbrt(distance * SmoothPtpJerkShapeCoefficient / limit.JerkLimit);
|
||||||
|
|
||||||
duration = Math.Max(duration, Math.Max(velocityDuration, Math.Max(accelerationDuration, jerkDuration)));
|
duration = Math.Max(duration, Math.Max(velocityDuration, Math.Max(accelerationDuration, jerkDuration)));
|
||||||
}
|
}
|
||||||
@@ -124,6 +188,12 @@ internal static class MoveJointTrajectoryGenerator
|
|||||||
return duration;
|
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)
|
internal static double AlignDurationToServoStep(double durationSeconds, double samplePeriodSeconds)
|
||||||
{
|
{
|
||||||
if (samplePeriodSeconds <= 0.0 || double.IsNaN(samplePeriodSeconds) || double.IsInfinity(samplePeriodSeconds))
|
if (samplePeriodSeconds <= 0.0 || double.IsNaN(samplePeriodSeconds) || double.IsInfinity(samplePeriodSeconds))
|
||||||
@@ -133,26 +203,14 @@ internal static class MoveJointTrajectoryGenerator
|
|||||||
|
|
||||||
var intervals = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds);
|
var intervals = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds);
|
||||||
|
|
||||||
return Math.Max(1, intervals) * samplePeriodSeconds;
|
return intervals * samplePeriodSeconds;
|
||||||
}
|
|
||||||
|
|
||||||
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(rawIntervals - 1e-9);
|
|
||||||
if (intervals < 1 || intervals + 1 > MaxMoveJointSampleCount)
|
|
||||||
{
|
|
||||||
throw new InvalidOperationException($"MoveJoint sample count must be between 2 and {MaxMoveJointSampleCount}.");
|
|
||||||
}
|
|
||||||
|
|
||||||
return intervals;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <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(
|
internal static IReadOnlyList<IReadOnlyList<double>> GenerateDenseTrajectory(
|
||||||
IReadOnlyList<double> startJoints,
|
IReadOnlyList<double> startJoints,
|
||||||
IReadOnlyList<double> targetJoints,
|
IReadOnlyList<double> targetJoints,
|
||||||
@@ -171,30 +229,128 @@ internal static class MoveJointTrajectoryGenerator
|
|||||||
return rows;
|
return rows;
|
||||||
}
|
}
|
||||||
|
|
||||||
private static IReadOnlyList<double> CreateRow(double timeSeconds, double durationSeconds, IReadOnlyList<double> startJoints, IReadOnlyList<double> targetJoints)
|
/// <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 u = durationSeconds <= 0.0 ? 1.0 : Math.Clamp(timeSeconds / durationSeconds, 0.0, 1.0);
|
||||||
var alpha = InterpolateCapturedAlpha(u);
|
var scale = EvaluateSmoothPtpPositionScale(u);
|
||||||
var row = new double[startJoints.Count + 1];
|
var row = new double[startJoints.Count + 1];
|
||||||
row[0] = Math.Round(timeSeconds, 9);
|
row[0] = Math.Round(timeSeconds, 9);
|
||||||
|
|
||||||
for (var index = 0; index < startJoints.Count; index++)
|
for (var index = 0; index < startJoints.Count; index++)
|
||||||
{
|
{
|
||||||
row[index + 1] = startJoints[index] + ((targetJoints[index] - startJoints[index]) * alpha);
|
row[index + 1] = startJoints[index] + ((targetJoints[index] - startJoints[index]) * scale);
|
||||||
}
|
}
|
||||||
|
|
||||||
return row;
|
return row;
|
||||||
}
|
}
|
||||||
|
|
||||||
internal static double InterpolateCapturedAlpha(double normalizedTime)
|
/// <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)
|
||||||
{
|
{
|
||||||
var clamped = Math.Clamp(normalizedTime, 0.0, 1.0);
|
double? previousTime = null;
|
||||||
var scaledIndex = clamped * (CapturedMvpointAlpha.Length - 1);
|
double[]? previousPositions = null;
|
||||||
var lower = (int)Math.Floor(scaledIndex);
|
double[]? previousVelocities = null;
|
||||||
var upper = Math.Min(lower + 1, CapturedMvpointAlpha.Length - 1);
|
double[]? previousAccelerations = null;
|
||||||
var fraction = scaledIndex - lower;
|
|
||||||
|
|
||||||
return CapturedMvpointAlpha[lower]
|
foreach (var row in rows)
|
||||||
+ ((CapturedMvpointAlpha[upper] - CapturedMvpointAlpha[lower]) * fraction);
|
{
|
||||||
|
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;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -0,0 +1,353 @@
|
|||||||
|
using Flyshot.Core.Domain;
|
||||||
|
using Microsoft.Extensions.Logging;
|
||||||
|
|
||||||
|
namespace Flyshot.ControllerClientCompat;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// MovePose 直角坐标轨迹生成器。
|
||||||
|
/// 将起始 TCP 位姿到目标 TCP 位姿的单段运动，按保守直角速度、加速度和 jerk 限制生成 8ms 稠密点。
|
||||||
|
/// </summary>
|
||||||
|
internal static class MovePoseTrajectoryGenerator
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 直角位置轴最大速度，单位为 mm/s。
|
||||||
|
/// </summary>
|
||||||
|
private const double LinearVelocityLimit = 50.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 直角位置轴最大加速度，单位为 mm/s^2。
|
||||||
|
/// </summary>
|
||||||
|
private const double LinearAccelerationLimit = 250.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 直角位置轴最大 jerk，单位为 mm/s^3。
|
||||||
|
/// </summary>
|
||||||
|
private const double LinearJerkLimit = 1250.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 姿态轴最大速度，单位为 deg/s。
|
||||||
|
/// </summary>
|
||||||
|
private const double AngularVelocityLimit = 10.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 姿态轴最大加速度，单位为 deg/s^2。
|
||||||
|
/// </summary>
|
||||||
|
private const double AngularAccelerationLimit = 50.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 姿态轴最大 jerk，单位为 deg/s^3。
|
||||||
|
/// </summary>
|
||||||
|
private const double AngularJerkLimit = 250.0;
|
||||||
|
|
||||||
|
/// <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 MovePose 最大采样点数上限，避免极低速度倍率生成过大的队列。
|
||||||
|
/// </summary>
|
||||||
|
private const int MaxMovePoseSampleCount = 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 MovePose 轨迹的完整结果。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="startPose">起始位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
|
||||||
|
/// <param name="targetPose">目标位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
|
||||||
|
/// <param name="servoPeriod">J519 伺服发送周期。</param>
|
||||||
|
/// <param name="speedRatio">速度倍率，必须大于 0。</param>
|
||||||
|
/// <param name="logger">可选诊断日志。</param>
|
||||||
|
/// <returns>包含稠密直角轨迹的规划结果。</returns>
|
||||||
|
public static TrajectoryResult CreateResult(
|
||||||
|
IReadOnlyList<double> startPose,
|
||||||
|
IReadOnlyList<double> targetPose,
|
||||||
|
TimeSpan servoPeriod,
|
||||||
|
double speedRatio,
|
||||||
|
ILogger? logger = null)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(startPose);
|
||||||
|
ArgumentNullException.ThrowIfNull(targetPose);
|
||||||
|
EnsurePoseVector(startPose, nameof(startPose));
|
||||||
|
EnsurePoseVector(targetPose, nameof(targetPose));
|
||||||
|
|
||||||
|
if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("Speed ratio must be greater than zero for MovePose execution.");
|
||||||
|
}
|
||||||
|
|
||||||
|
var samplePeriodSeconds = servoPeriod.TotalSeconds;
|
||||||
|
if (samplePeriodSeconds <= 0.0 || double.IsNaN(samplePeriodSeconds) || double.IsInfinity(samplePeriodSeconds))
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("MovePose servo period must be a finite positive duration.");
|
||||||
|
}
|
||||||
|
|
||||||
|
var requestedDurationSeconds = ResolveDurationSeconds(startPose, targetPose, speedRatio);
|
||||||
|
var durationSeconds = AlignDurationToServoStep(requestedDurationSeconds, samplePeriodSeconds);
|
||||||
|
var denseCartesianTrajectory = GenerateDenseTrajectory(startPose, targetPose, durationSeconds, samplePeriodSeconds);
|
||||||
|
|
||||||
|
var stretchCount = 0;
|
||||||
|
while (!SatisfiesDefaultCartesianLimits(denseCartesianTrajectory, speedRatio))
|
||||||
|
{
|
||||||
|
stretchCount++;
|
||||||
|
if (stretchCount > MaxDiscreteLimitStretchIterations)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("MovePose duration cannot be stretched enough to satisfy Cartesian limits.");
|
||||||
|
}
|
||||||
|
|
||||||
|
// 离散差分以真实下发点为准；不满足时逐周期拉长后重采样。
|
||||||
|
durationSeconds = AlignDurationToServoStep(durationSeconds + samplePeriodSeconds, samplePeriodSeconds);
|
||||||
|
denseCartesianTrajectory = GenerateDenseTrajectory(startPose, targetPose, durationSeconds, samplePeriodSeconds);
|
||||||
|
}
|
||||||
|
|
||||||
|
logger?.LogDebug(
|
||||||
|
"MovePoseTrajectoryGenerator: requestedDuration={RequestedDuration:F4}s, duration={Duration:F4}s, speedRatio={SpeedRatio}, samplePeriod={SamplePeriod:F6}s, sampleCount={SampleCount}, stretchCount={StretchCount}",
|
||||||
|
requestedDurationSeconds,
|
||||||
|
durationSeconds,
|
||||||
|
speedRatio,
|
||||||
|
samplePeriodSeconds,
|
||||||
|
denseCartesianTrajectory.Count,
|
||||||
|
stretchCount);
|
||||||
|
|
||||||
|
return new TrajectoryResult(
|
||||||
|
programName: "move-pose",
|
||||||
|
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: denseCartesianTrajectory.Count,
|
||||||
|
denseCartesianTrajectory: denseCartesianTrajectory);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 检查稠密直角轨迹是否满足默认六维速度、加速度和 jerk 限制。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="rows">稠密轨迹行，每行为 [time,x,y,z,w,p,r]。</param>
|
||||||
|
/// <param name="speedRatio">生成该轨迹时使用的速度倍率。</param>
|
||||||
|
/// <returns>满足限制时返回 true，否则返回 false。</returns>
|
||||||
|
public static bool SatisfiesDefaultCartesianLimits(IReadOnlyList<IReadOnlyList<double>> rows, double speedRatio)
|
||||||
|
{
|
||||||
|
if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("Speed ratio must be greater than zero for MovePose limit validation.");
|
||||||
|
}
|
||||||
|
|
||||||
|
double? previousTime = null;
|
||||||
|
double[]? previousPositions = null;
|
||||||
|
double[]? previousVelocities = null;
|
||||||
|
double[]? previousAccelerations = null;
|
||||||
|
|
||||||
|
foreach (var row in rows)
|
||||||
|
{
|
||||||
|
if (row.Count != 7)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("MovePose dense trajectory rows must contain time plus six pose values.");
|
||||||
|
}
|
||||||
|
|
||||||
|
var currentTime = row[0];
|
||||||
|
var currentPositions = row.Skip(1).Take(6).ToArray();
|
||||||
|
|
||||||
|
if (previousTime is not null && previousPositions is not null)
|
||||||
|
{
|
||||||
|
var dt = currentTime - previousTime.Value;
|
||||||
|
if (dt <= 0.0)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("MovePose dense trajectory timestamps must be strictly increasing.");
|
||||||
|
}
|
||||||
|
|
||||||
|
var velocities = new double[6];
|
||||||
|
var accelerations = new double[6];
|
||||||
|
for (var index = 0; index < 6; index++)
|
||||||
|
{
|
||||||
|
var limits = GetAxisLimits(index, speedRatio);
|
||||||
|
velocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
|
||||||
|
if (Math.Abs(velocities[index]) > limits.Velocity * DiscreteLimitTolerance)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
accelerations[index] = previousVelocities is null
|
||||||
|
? 0.0
|
||||||
|
: (velocities[index] - previousVelocities[index]) / dt;
|
||||||
|
if (Math.Abs(accelerations[index]) > limits.Acceleration * DiscreteLimitTolerance)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (previousAccelerations is not null)
|
||||||
|
{
|
||||||
|
var jerk = (accelerations[index] - previousAccelerations[index]) / dt;
|
||||||
|
if (Math.Abs(jerk) > limits.Jerk * DiscreteLimitTolerance)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
previousVelocities = velocities;
|
||||||
|
previousAccelerations = accelerations;
|
||||||
|
}
|
||||||
|
|
||||||
|
previousTime = currentTime;
|
||||||
|
previousPositions = currentPositions;
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 根据 7 阶平滑点到点时间律和直角六维限制计算理论最短时长。
|
||||||
|
/// </summary>
|
||||||
|
private static double ResolveDurationSeconds(IReadOnlyList<double> startPose, IReadOnlyList<double> targetPose, double speedRatio)
|
||||||
|
{
|
||||||
|
var duration = 0.0;
|
||||||
|
for (var index = 0; index < 6; index++)
|
||||||
|
{
|
||||||
|
var distance = Math.Abs(targetPose[index] - startPose[index]);
|
||||||
|
if (distance <= 0.0)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
var limits = GetAxisLimits(index, speedRatio);
|
||||||
|
var velocityDuration = distance * SmoothPtpVelocityShapeCoefficient / limits.Velocity;
|
||||||
|
var accelerationDuration = Math.Sqrt(distance * SmoothPtpAccelerationShapeCoefficient / limits.Acceleration);
|
||||||
|
var jerkDuration = Math.Cbrt(distance * SmoothPtpJerkShapeCoefficient / limits.Jerk);
|
||||||
|
duration = Math.Max(duration, Math.Max(velocityDuration, Math.Max(accelerationDuration, jerkDuration)));
|
||||||
|
}
|
||||||
|
|
||||||
|
return duration;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 生成从起始位姿到目标位姿的稠密等时间隔直角轨迹点序列。
|
||||||
|
/// </summary>
|
||||||
|
private static IReadOnlyList<IReadOnlyList<double>> GenerateDenseTrajectory(
|
||||||
|
IReadOnlyList<double> startPose,
|
||||||
|
IReadOnlyList<double> targetPose,
|
||||||
|
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, startPose, targetPose));
|
||||||
|
}
|
||||||
|
|
||||||
|
return rows;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 将请求时长向上对齐到整数个伺服周期。
|
||||||
|
/// </summary>
|
||||||
|
private static double AlignDurationToServoStep(double durationSeconds, double samplePeriodSeconds)
|
||||||
|
{
|
||||||
|
return ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds) * samplePeriodSeconds;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 计算时长对应的采样间隔数，轨迹至少包含起点和终点两帧。
|
||||||
|
/// </summary>
|
||||||
|
private static long ResolveSampleIntervalCount(double durationSeconds, double samplePeriodSeconds)
|
||||||
|
{
|
||||||
|
var rawIntervals = durationSeconds / samplePeriodSeconds;
|
||||||
|
if (double.IsNaN(rawIntervals) || double.IsInfinity(rawIntervals))
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("MovePose 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 > MaxMovePoseSampleCount)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException($"MovePose sample count must be between 2 and {MaxMovePoseSampleCount}.");
|
||||||
|
}
|
||||||
|
|
||||||
|
return intervals;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 构造单个轨迹行：[time_seconds,x,y,z,w,p,r]。
|
||||||
|
/// </summary>
|
||||||
|
private static IReadOnlyList<double> CreateRow(
|
||||||
|
double timeSeconds,
|
||||||
|
double durationSeconds,
|
||||||
|
IReadOnlyList<double> startPose,
|
||||||
|
IReadOnlyList<double> targetPose)
|
||||||
|
{
|
||||||
|
var u = durationSeconds <= 0.0 ? 1.0 : Math.Clamp(timeSeconds / durationSeconds, 0.0, 1.0);
|
||||||
|
var scale = MoveJointTrajectoryGenerator.EvaluateSmoothPtpPositionScale(u);
|
||||||
|
var row = new double[7];
|
||||||
|
row[0] = Math.Round(timeSeconds, 9);
|
||||||
|
|
||||||
|
for (var index = 0; index < 6; index++)
|
||||||
|
{
|
||||||
|
row[index + 1] = startPose[index] + ((targetPose[index] - startPose[index]) * scale);
|
||||||
|
}
|
||||||
|
|
||||||
|
return row;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取指定直角轴在当前速度倍率下的有效限制。
|
||||||
|
/// </summary>
|
||||||
|
private static CartesianAxisLimit GetAxisLimits(int index, double speedRatio)
|
||||||
|
{
|
||||||
|
var linearAxis = index < 3;
|
||||||
|
var velocity = linearAxis ? LinearVelocityLimit : AngularVelocityLimit;
|
||||||
|
var acceleration = linearAxis ? LinearAccelerationLimit : AngularAccelerationLimit;
|
||||||
|
var jerk = linearAxis ? LinearJerkLimit : AngularJerkLimit;
|
||||||
|
return new CartesianAxisLimit(
|
||||||
|
velocity * speedRatio,
|
||||||
|
acceleration * speedRatio * speedRatio,
|
||||||
|
jerk * speedRatio * speedRatio * speedRatio);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 校验位姿向量必须为六维有限数。
|
||||||
|
/// </summary>
|
||||||
|
private static void EnsurePoseVector(IReadOnlyList<double> pose, string parameterName)
|
||||||
|
{
|
||||||
|
if (pose.Count != 6)
|
||||||
|
{
|
||||||
|
throw new ArgumentException("MovePose expects pose [x,y,z,w,p,r].", parameterName);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (pose.Any(static value => double.IsNaN(value) || double.IsInfinity(value)))
|
||||||
|
{
|
||||||
|
throw new ArgumentException("MovePose pose values must be finite.", parameterName);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 表示单个直角轴的有效速度、加速度和 jerk 限制。
|
||||||
|
/// </summary>
|
||||||
|
private readonly record struct CartesianAxisLimit(double Velocity, double Acceleration, double Jerk);
|
||||||
|
}
|
||||||
@@ -12,21 +12,35 @@ public sealed class PlannedExecutionBundle
|
|||||||
/// <summary>
|
/// <summary>
|
||||||
/// 初始化一份执行规划结果包。
|
/// 初始化一份执行规划结果包。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="plannedTrajectory">规划后的轨迹。</param>
|
/// <param name="plannedTrajectory">规划后的原始连续轨迹。</param>
|
||||||
/// <param name="shotTimeline">飞拍触发时间轴。</param>
|
/// <param name="shotTimeline">飞拍触发时间轴。</param>
|
||||||
/// <param name="result">对运行时和监控层暴露的规划结果。</param>
|
/// <param name="result">对运行时和监控层暴露的规划结果。</param>
|
||||||
public PlannedExecutionBundle(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, TrajectoryResult result)
|
/// <param name="preparedExecution">飞拍链路预先准备好的最终发送队列。</param>
|
||||||
|
/// <param name="executionTrajectory">与运行时结果同口径的连续执行轨迹；为空时复用 plannedTrajectory。</param>
|
||||||
|
public PlannedExecutionBundle(
|
||||||
|
PlannedTrajectory plannedTrajectory,
|
||||||
|
ShotTimeline shotTimeline,
|
||||||
|
TrajectoryResult result,
|
||||||
|
FlyshotPreparedExecution? preparedExecution = null,
|
||||||
|
PlannedTrajectory? executionTrajectory = null)
|
||||||
{
|
{
|
||||||
PlannedTrajectory = plannedTrajectory ?? throw new ArgumentNullException(nameof(plannedTrajectory));
|
PlannedTrajectory = plannedTrajectory ?? throw new ArgumentNullException(nameof(plannedTrajectory));
|
||||||
ShotTimeline = shotTimeline ?? throw new ArgumentNullException(nameof(shotTimeline));
|
ShotTimeline = shotTimeline ?? throw new ArgumentNullException(nameof(shotTimeline));
|
||||||
Result = result ?? throw new ArgumentNullException(nameof(result));
|
Result = result ?? throw new ArgumentNullException(nameof(result));
|
||||||
|
PreparedExecution = preparedExecution;
|
||||||
|
ExecutionTrajectory = executionTrajectory ?? plannedTrajectory;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取规划后的轨迹。
|
/// 获取规划后的原始连续轨迹。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public PlannedTrajectory PlannedTrajectory { get; }
|
public PlannedTrajectory PlannedTrajectory { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取与运行时结果同口径的连续执行轨迹，用于构建最终 8ms 发送队列。
|
||||||
|
/// </summary>
|
||||||
|
public PlannedTrajectory ExecutionTrajectory { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取飞拍触发时间轴。
|
/// 获取飞拍触发时间轴。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -36,4 +50,9 @@ public sealed class PlannedExecutionBundle
|
|||||||
/// 获取运行时可消费的规划结果。
|
/// 获取运行时可消费的规划结果。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public TrajectoryResult Result { get; }
|
public TrajectoryResult Result { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取飞拍链路预先准备好的最终发送队列；普通轨迹与 move_joint 为 null。
|
||||||
|
/// </summary>
|
||||||
|
public FlyshotPreparedExecution? PreparedExecution { get; }
|
||||||
}
|
}
|
||||||
|
|||||||
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; }
|
||||||
|
}
|
||||||
@@ -16,10 +16,13 @@ public sealed class CompatibilityRobotSettings
|
|||||||
bool useDo,
|
bool useDo,
|
||||||
IEnumerable<int> ioAddresses,
|
IEnumerable<int> ioAddresses,
|
||||||
int ioKeepCycles,
|
int ioKeepCycles,
|
||||||
|
int triggerSampleIndexOffsetCycles,
|
||||||
double accLimitScale,
|
double accLimitScale,
|
||||||
double jerkLimitScale,
|
double jerkLimitScale,
|
||||||
int adaptIcspTryNum,
|
int adaptIcspTryNum,
|
||||||
double planningSpeedScale = 1.0)
|
double planningSpeedScale = 1.0,
|
||||||
|
double speedRatio = 1.0,
|
||||||
|
bool smoothStartStopTiming = true)
|
||||||
{
|
{
|
||||||
ArgumentNullException.ThrowIfNull(ioAddresses);
|
ArgumentNullException.ThrowIfNull(ioAddresses);
|
||||||
|
|
||||||
@@ -28,6 +31,11 @@ public sealed class CompatibilityRobotSettings
|
|||||||
throw new ArgumentOutOfRangeException(nameof(ioKeepCycles), "IO 保持周期不能为负数。");
|
throw new ArgumentOutOfRangeException(nameof(ioKeepCycles), "IO 保持周期不能为负数。");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (triggerSampleIndexOffsetCycles < 0)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(triggerSampleIndexOffsetCycles), "触发 sample 偏移周期不能为负数。");
|
||||||
|
}
|
||||||
|
|
||||||
if (accLimitScale <= 0.0)
|
if (accLimitScale <= 0.0)
|
||||||
{
|
{
|
||||||
throw new ArgumentOutOfRangeException(nameof(accLimitScale), "加速度倍率必须大于 0。");
|
throw new ArgumentOutOfRangeException(nameof(accLimitScale), "加速度倍率必须大于 0。");
|
||||||
@@ -43,6 +51,11 @@ public sealed class CompatibilityRobotSettings
|
|||||||
throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
|
throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (speedRatio <= 0.0 || speedRatio > 1.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(speedRatio), "运行时速度倍率必须在 (0, 1] 范围内。");
|
||||||
|
}
|
||||||
|
|
||||||
if (adaptIcspTryNum < 0)
|
if (adaptIcspTryNum < 0)
|
||||||
{
|
{
|
||||||
throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
|
throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
|
||||||
@@ -58,10 +71,13 @@ public sealed class CompatibilityRobotSettings
|
|||||||
UseDo = useDo;
|
UseDo = useDo;
|
||||||
IoAddresses = copiedIoAddresses;
|
IoAddresses = copiedIoAddresses;
|
||||||
IoKeepCycles = ioKeepCycles;
|
IoKeepCycles = ioKeepCycles;
|
||||||
|
TriggerSampleIndexOffsetCycles = triggerSampleIndexOffsetCycles;
|
||||||
AccLimitScale = accLimitScale;
|
AccLimitScale = accLimitScale;
|
||||||
JerkLimitScale = jerkLimitScale;
|
JerkLimitScale = jerkLimitScale;
|
||||||
AdaptIcspTryNum = adaptIcspTryNum;
|
AdaptIcspTryNum = adaptIcspTryNum;
|
||||||
PlanningSpeedScale = planningSpeedScale;
|
PlanningSpeedScale = planningSpeedScale;
|
||||||
|
SpeedRatio = speedRatio;
|
||||||
|
SmoothStartStopTiming = smoothStartStopTiming;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -79,6 +95,12 @@ public sealed class CompatibilityRobotSettings
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
public int IoKeepCycles { get; }
|
public int IoKeepCycles { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取触发绑定到最佳 sample 后，还要再向后偏移的命令周期数。
|
||||||
|
/// 该值作用在 J519 命令 sample 时间轴，不是 60015 状态反馈周期。
|
||||||
|
/// </summary>
|
||||||
|
public int TriggerSampleIndexOffsetCycles { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取加速度全局倍率。
|
/// 获取加速度全局倍率。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -94,6 +116,16 @@ public sealed class CompatibilityRobotSettings
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
public double PlanningSpeedScale { get; }
|
public double PlanningSpeedScale { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取运行时默认速度倍率，会在 SetUpRobot 时同步到控制器运行时，供 MoveJoint 和后续执行链路使用。
|
||||||
|
/// </summary>
|
||||||
|
public double SpeedRatio { 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>
|
/// <summary>
|
||||||
/// 获取自适应补点最大尝试次数。
|
/// 获取自适应补点最大尝试次数。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -177,10 +209,13 @@ public sealed class RobotConfigLoader
|
|||||||
useDo: ReadBoolean(robotElement, "use_do", defaultValue: false),
|
useDo: ReadBoolean(robotElement, "use_do", defaultValue: false),
|
||||||
ioAddresses: ReadIntArray(robotElement, "io_addr"),
|
ioAddresses: ReadIntArray(robotElement, "io_addr"),
|
||||||
ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0),
|
ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0),
|
||||||
|
triggerSampleIndexOffsetCycles: ReadInt(robotElement, "trigger_sample_index_offset_cycles", defaultValue: 7),
|
||||||
accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0),
|
accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0),
|
||||||
jerkLimitScale: ReadDouble(robotElement, "jerk_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));
|
planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0),
|
||||||
|
speedRatio: ReadDouble(robotElement, "speed_ratio", defaultValue: 1.0),
|
||||||
|
smoothStartStopTiming: ReadBoolean(robotElement, "smooth_start_stop_timing", defaultValue: true));
|
||||||
|
|
||||||
var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
|
var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
|
||||||
foreach (var programElement in flyingShotsElement.EnumerateObject())
|
foreach (var programElement in flyingShotsElement.EnumerateObject())
|
||||||
@@ -191,8 +226,8 @@ public sealed class RobotConfigLoader
|
|||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
|
"RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, speedRatio={SpeedRatio}, smoothStartStopTiming={SmoothStartStopTiming}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
|
||||||
resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.AdaptIcspTryNum, programs.Count);
|
resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.SpeedRatio, robot.SmoothStartStopTiming, robot.AdaptIcspTryNum, programs.Count);
|
||||||
|
|
||||||
return new LoadedRobotConfig(
|
return new LoadedRobotConfig(
|
||||||
sourcePath: resolvedConfigPath,
|
sourcePath: resolvedConfigPath,
|
||||||
|
|||||||
@@ -1,4 +1,3 @@
|
|||||||
using System.Text;
|
|
||||||
using System.Text.Json;
|
using System.Text.Json;
|
||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
using Microsoft.Extensions.Logging;
|
using Microsoft.Extensions.Logging;
|
||||||
@@ -6,11 +5,10 @@ using Microsoft.Extensions.Logging;
|
|||||||
namespace Flyshot.Core.Config;
|
namespace Flyshot.Core.Config;
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
public sealed class RobotModelLoader
|
public sealed class RobotModelLoader
|
||||||
{
|
{
|
||||||
private const uint JsonChunkType = 0x4E4F534A;
|
|
||||||
private readonly ILogger<RobotModelLoader>? _logger;
|
private readonly ILogger<RobotModelLoader>? _logger;
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -23,17 +21,29 @@ public sealed class RobotModelLoader
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 加载 .robot 文件并生成规划侧可直接消费的 RobotProfile。
|
/// 加载机器人 JSON 文件并生成规划侧可直接消费的 RobotProfile。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="modelPath">.robot 文件路径。</param>
|
/// <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="accLimitScale">加速度全局倍率。</param>
|
||||||
/// <param name="jerkLimitScale">Jerk 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>
|
/// <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)
|
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))
|
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)
|
if (accLimitScale <= 0.0)
|
||||||
@@ -46,17 +56,72 @@ public sealed class RobotModelLoader
|
|||||||
throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
|
throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
|
||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation("RobotModel 开始加载: modelPath={ModelPath}, accLimitScale={AccLimitScale}, jerkLimitScale={JerkLimitScale}", modelPath, accLimitScale, jerkLimitScale);
|
_logger?.LogInformation("RobotModel JSON 开始加载: modelPath={ModelPath}, accLimitScale={AccLimitScale}, jerkLimitScale={JerkLimitScale}", modelPath, accLimitScale, jerkLimitScale);
|
||||||
|
|
||||||
var resolvedModelPath = Path.GetFullPath(modelPath);
|
var resolvedModelPath = Path.GetFullPath(modelPath);
|
||||||
var jsonText = ReadJsonChunk(resolvedModelPath);
|
using var document = JsonDocument.Parse(File.ReadAllText(resolvedModelPath));
|
||||||
using var document = JsonDocument.Parse(jsonText);
|
|
||||||
|
|
||||||
var robotBody = FindRobotBody(document.RootElement);
|
var robotBody = FindRobotBody(document.RootElement);
|
||||||
var profileName = robotBody.TryGetProperty("name", out var nameElement)
|
var profileName = robotBody.TryGetProperty("name", out var nameElement)
|
||||||
? nameElement.GetString() ?? Path.GetFileNameWithoutExtension(resolvedModelPath)
|
? nameElement.GetString() ?? Path.GetFileNameWithoutExtension(resolvedModelPath)
|
||||||
: 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 jointLimits = new List<JointLimit>();
|
||||||
var jointCouplings = new List<JointCoupling>();
|
var jointCouplings = new List<JointCoupling>();
|
||||||
|
|
||||||
@@ -80,18 +145,21 @@ public sealed class RobotModelLoader
|
|||||||
{
|
{
|
||||||
var masterJointName = coupleElement.GetProperty("master_joint").GetString()
|
var masterJointName = coupleElement.GetProperty("master_joint").GetString()
|
||||||
?? throw new InvalidDataException($"关节 {jointName} 的 couple 缺少 master_joint。");
|
?? throw new InvalidDataException($"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(
|
jointCouplings.Add(new JointCoupling(
|
||||||
slaveJointName: jointName,
|
slaveJointName: jointName,
|
||||||
masterJointName: masterJointName,
|
masterJointName: masterJointName,
|
||||||
multiplier: coupleElement.TryGetProperty("multiplier", out var multiplierElement) ? multiplierElement.GetDouble() : 0.0,
|
multiplier: multiplier,
|
||||||
offset: coupleElement.TryGetProperty("offset", out var offsetElement) ? offsetElement.GetDouble() : 0.0));
|
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);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation(
|
foreach (var jointLimit in jointLimits)
|
||||||
"RobotModel 加载完成: profileName={ProfileName}, dof={Dof}, 关节限制数={JointLimitCount}, couple数={CouplingCount}, resolvedPath={ResolvedPath}",
|
{
|
||||||
profileName, jointLimits.Count, jointLimits.Count, jointCouplings.Count, resolvedModelPath);
|
_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(
|
return new RobotProfile(
|
||||||
name: profileName,
|
name: profileName,
|
||||||
@@ -104,101 +172,32 @@ public sealed class RobotModelLoader
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </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));
|
|
||||||
}
|
|
||||||
|
|
||||||
_logger?.LogInformation("RobotKinematicsModel 开始加载: modelPath={ModelPath}", 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>();
|
var joints = new List<RobotJointGeometry>();
|
||||||
foreach (var jointElement in robotBody.GetProperty("joints").EnumerateArray())
|
foreach (var jointElement in robotBody.GetProperty("joints").EnumerateArray())
|
||||||
{
|
{
|
||||||
var jointName = jointElement.GetProperty("name").GetString()
|
var jointName = jointElement.GetProperty("name").GetString()
|
||||||
?? throw new InvalidDataException("关节缺少 name。");
|
?? 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)
|
var jointType = jointElement.TryGetProperty("type", out var typeElement)
|
||||||
? typeElement.GetInt32()
|
? typeElement.GetInt32()
|
||||||
: 0;
|
: 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();
|
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();
|
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。
|
// 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;
|
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 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;
|
string? coupleMaster = null;
|
||||||
double coupleMultiplier = 0.0;
|
double coupleMultiplier = 0.0;
|
||||||
double coupleOffset = 0.0;
|
double coupleOffset = 0.0;
|
||||||
@@ -209,21 +208,45 @@ public sealed class RobotModelLoader
|
|||||||
coupleOffset = coupleElement.TryGetProperty("offset", out var o) ? o.GetDouble() : 0.0;
|
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(
|
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,
|
name: jointName,
|
||||||
parent: jointElement.GetProperty("parent").GetString() ?? string.Empty,
|
// parent: 父 link 名称，用于串起机器人树结构。
|
||||||
child: jointElement.GetProperty("child").GetString() ?? string.Empty,
|
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,
|
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,
|
axis: axisVector,
|
||||||
|
// originXyz: 关节原点平移分量。
|
||||||
originXyz: originXyz,
|
originXyz: originXyz,
|
||||||
|
// originQuatXyzw: 关节原点旋转四元数分量。
|
||||||
originQuatXyzw: originQuat,
|
originQuatXyzw: originQuat,
|
||||||
|
// coupleMaster: 耦合主关节名（无耦合时为 null）。
|
||||||
coupleMaster: coupleMaster,
|
coupleMaster: coupleMaster,
|
||||||
|
// coupleMultiplier: 耦合线性比例系数。
|
||||||
coupleMultiplier: coupleMultiplier,
|
coupleMultiplier: coupleMultiplier,
|
||||||
|
// coupleOffset: 耦合常量偏移量。
|
||||||
coupleOffset: coupleOffset));
|
coupleOffset: coupleOffset));
|
||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation("RobotKinematicsModel 加载完成: profileName={ProfileName}, 关节数={JointCount}", profileName, joints.Count);
|
_logger?.LogInformation("几何模型构建完成: profileName={ProfileName}, jointCount={JointCount}", profileName, joints.Count);
|
||||||
|
|
||||||
return new RobotKinematicsModel(name: profileName, joints: joints);
|
return new RobotKinematicsModel(name: profileName, joints: joints);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
202
src/Flyshot.Core.Domain/FlyshotPreparedExecution.cs
Normal file
202
src/Flyshot.Core.Domain/FlyshotPreparedExecution.cs
Normal file
@@ -0,0 +1,202 @@
|
|||||||
|
namespace Flyshot.Core.Domain;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 表示飞拍链路在进入运行时之前就已经准备完成的最终发送结果。
|
||||||
|
/// </summary>
|
||||||
|
public sealed class FlyshotPreparedExecution
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 初始化一份飞拍最终发送结果。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="samples">最终 8ms 发送点列。</param>
|
||||||
|
/// <param name="triggerBindings">与最终发送点列对齐的触发绑定结果。</param>
|
||||||
|
/// <param name="timingRows">与最终发送点列一致的时间映射诊断行。</param>
|
||||||
|
/// <param name="jerkRows">与最终发送点列一致的跃度诊断行。</param>
|
||||||
|
/// <param name="requestSpeedRatio">请求的执行倍率。</param>
|
||||||
|
/// <param name="finalSpeedRatio">最终发送队列采用的采样倍率；请求倍率已折算进规划时为 1。</param>
|
||||||
|
/// <param name="finalDurationSeconds">最终发送总时长，单位为秒。</param>
|
||||||
|
/// <param name="stretchIterationCount">历史诊断字段；当前执行侧不自动改写 speed_ratio，因此正常为 0。</param>
|
||||||
|
public FlyshotPreparedExecution(
|
||||||
|
IEnumerable<FlyshotPreparedSample> samples,
|
||||||
|
IEnumerable<FlyshotPreparedTriggerBinding> triggerBindings,
|
||||||
|
IEnumerable<IReadOnlyList<double>> timingRows,
|
||||||
|
IEnumerable<IReadOnlyList<double>> jerkRows,
|
||||||
|
double requestSpeedRatio,
|
||||||
|
double finalSpeedRatio,
|
||||||
|
double finalDurationSeconds,
|
||||||
|
int stretchIterationCount)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(samples);
|
||||||
|
ArgumentNullException.ThrowIfNull(triggerBindings);
|
||||||
|
ArgumentNullException.ThrowIfNull(timingRows);
|
||||||
|
ArgumentNullException.ThrowIfNull(jerkRows);
|
||||||
|
|
||||||
|
if (requestSpeedRatio <= 0.0 || double.IsNaN(requestSpeedRatio) || double.IsInfinity(requestSpeedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(requestSpeedRatio), "请求速度倍率必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (finalSpeedRatio <= 0.0 || double.IsNaN(finalSpeedRatio) || double.IsInfinity(finalSpeedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(finalSpeedRatio), "最终速度倍率必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (finalDurationSeconds < 0.0 || double.IsNaN(finalDurationSeconds) || double.IsInfinity(finalDurationSeconds))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(finalDurationSeconds), "最终发送总时长必须是有限非负数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (stretchIterationCount < 0)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(stretchIterationCount), "倍率改写迭代次数必须是非负整数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
Samples = samples.Select(static sample => sample).ToArray();
|
||||||
|
TriggerBindings = triggerBindings.Select(static binding => binding).ToArray();
|
||||||
|
TimingRows = timingRows.Select(static row => row.ToArray()).ToArray();
|
||||||
|
JerkRows = jerkRows.Select(static row => row.ToArray()).ToArray();
|
||||||
|
RequestSpeedRatio = requestSpeedRatio;
|
||||||
|
FinalSpeedRatio = finalSpeedRatio;
|
||||||
|
FinalDurationSeconds = finalDurationSeconds;
|
||||||
|
StretchIterationCount = stretchIterationCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取最终 8ms 发送点列。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<FlyshotPreparedSample> Samples { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取与最终发送点列对齐的触发绑定结果。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<FlyshotPreparedTriggerBinding> TriggerBindings { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取与最终发送点列一致的时间映射诊断行。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<IReadOnlyList<double>> TimingRows { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取与最终发送点列一致的跃度诊断行。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<IReadOnlyList<double>> JerkRows { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取请求的执行倍率。
|
||||||
|
/// </summary>
|
||||||
|
public double RequestSpeedRatio { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取最终发送队列采用的采样倍率；请求倍率保留在 <see cref="RequestSpeedRatio"/> 中用于诊断。
|
||||||
|
/// </summary>
|
||||||
|
public double FinalSpeedRatio { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取最终发送总时长，单位为秒。
|
||||||
|
/// </summary>
|
||||||
|
public double FinalDurationSeconds { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取历史诊断字段；当前执行侧不自动改写 speed_ratio，因此正常为 0。
|
||||||
|
/// </summary>
|
||||||
|
public int StretchIterationCount { get; }
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 表示飞拍最终发送队列中的一个 8ms 发送点。
|
||||||
|
/// </summary>
|
||||||
|
public sealed class FlyshotPreparedSample
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 初始化一条最终发送点。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="sampleIndex">发送周期序号。</param>
|
||||||
|
/// <param name="sendTime">物理发送时间，单位为秒。</param>
|
||||||
|
/// <param name="trajectoryTime">回映射到规划轨迹的采样时间，单位为秒。</param>
|
||||||
|
/// <param name="speedRatio">生成该发送点时采用的队列采样倍率，已规划调速路径通常为 1。</param>
|
||||||
|
/// <param name="jointsDegrees">J519 下发使用的角度制关节目标。</param>
|
||||||
|
public FlyshotPreparedSample(
|
||||||
|
long sampleIndex,
|
||||||
|
double sendTime,
|
||||||
|
double trajectoryTime,
|
||||||
|
double speedRatio,
|
||||||
|
IReadOnlyList<double> jointsDegrees)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(jointsDegrees);
|
||||||
|
SampleIndex = sampleIndex;
|
||||||
|
SendTime = sendTime;
|
||||||
|
TrajectoryTime = trajectoryTime;
|
||||||
|
SpeedRatio = speedRatio;
|
||||||
|
JointsDegrees = jointsDegrees.ToArray();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取发送周期序号。
|
||||||
|
/// </summary>
|
||||||
|
public long SampleIndex { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取物理发送时间，单位为秒。
|
||||||
|
/// </summary>
|
||||||
|
public double SendTime { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取回映射到规划轨迹的采样时间，单位为秒。
|
||||||
|
/// </summary>
|
||||||
|
public double TrajectoryTime { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取生成该发送点时采用的队列采样倍率。
|
||||||
|
/// </summary>
|
||||||
|
public double SpeedRatio { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取 J519 下发使用的角度制关节目标。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<double> JointsDegrees { get; }
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 表示理论触发事件最终绑定到哪个发送点的结果。
|
||||||
|
/// </summary>
|
||||||
|
public sealed class FlyshotPreparedTriggerBinding
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 初始化一条最终触发绑定结果。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="trigger">理论触发事件。</param>
|
||||||
|
/// <param name="sample">最终绑定的发送点。</param>
|
||||||
|
/// <param name="sampleIndex">最终绑定到的发送点索引。</param>
|
||||||
|
/// <param name="foundInWindow">是否在理论搜索窗口内找到该发送点。</param>
|
||||||
|
public FlyshotPreparedTriggerBinding(
|
||||||
|
TrajectoryDoEvent trigger,
|
||||||
|
FlyshotPreparedSample sample,
|
||||||
|
int sampleIndex,
|
||||||
|
bool foundInWindow)
|
||||||
|
{
|
||||||
|
Trigger = trigger ?? throw new ArgumentNullException(nameof(trigger));
|
||||||
|
Sample = sample ?? throw new ArgumentNullException(nameof(sample));
|
||||||
|
SampleIndex = sampleIndex;
|
||||||
|
FoundInWindow = foundInWindow;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取理论触发事件。
|
||||||
|
/// </summary>
|
||||||
|
public TrajectoryDoEvent Trigger { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取最终绑定的发送点。
|
||||||
|
/// </summary>
|
||||||
|
public FlyshotPreparedSample Sample { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取最终绑定到的发送点索引。
|
||||||
|
/// </summary>
|
||||||
|
public int SampleIndex { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取是否在理论搜索窗口内完成绑定。
|
||||||
|
/// </summary>
|
||||||
|
public bool FoundInWindow { get; }
|
||||||
|
}
|
||||||
@@ -3,7 +3,7 @@ using System.Text.Json.Serialization;
|
|||||||
namespace Flyshot.Core.Domain;
|
namespace Flyshot.Core.Domain;
|
||||||
|
|
||||||
/// <summary>
|
/// <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？
|
/// 为什么与 RobotProfile 分开？
|
||||||
/// ---
|
/// ---
|
||||||
|
|||||||
@@ -3,12 +3,12 @@ using System.Text.Json.Serialization;
|
|||||||
namespace Flyshot.Core.Domain;
|
namespace Flyshot.Core.Domain;
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
public sealed class RobotProfile
|
public sealed class RobotProfile
|
||||||
{
|
{
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
public RobotProfile(
|
public RobotProfile(
|
||||||
string name,
|
string name,
|
||||||
@@ -47,7 +47,7 @@ public sealed class RobotProfile
|
|||||||
ArgumentNullException.ThrowIfNull(jointLimits);
|
ArgumentNullException.ThrowIfNull(jointLimits);
|
||||||
ArgumentNullException.ThrowIfNull(jointCouplings);
|
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 copiedJointLimits = jointLimits.ToArray();
|
||||||
var copiedJointCouplings = jointCouplings.ToArray();
|
var copiedJointCouplings = jointCouplings.ToArray();
|
||||||
|
|
||||||
@@ -66,55 +66,55 @@ public sealed class RobotProfile
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("name")]
|
[JsonPropertyName("name")]
|
||||||
public string Name { get; }
|
public string Name { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("modelPath")]
|
[JsonPropertyName("modelPath")]
|
||||||
public string ModelPath { get; }
|
public string ModelPath { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("degreesOfFreedom")]
|
[JsonPropertyName("degreesOfFreedom")]
|
||||||
public int DegreesOfFreedom { get; }
|
public int DegreesOfFreedom { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the validated per-joint kinematic limits.
|
/// 获取按关节校验后的运动学约束。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("jointLimits")]
|
[JsonPropertyName("jointLimits")]
|
||||||
public IReadOnlyList<JointLimit> JointLimits { get; }
|
public IReadOnlyList<JointLimit> JointLimits { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("jointCouplings")]
|
[JsonPropertyName("jointCouplings")]
|
||||||
public IReadOnlyList<JointCoupling> JointCouplings { get; }
|
public IReadOnlyList<JointCoupling> JointCouplings { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("servoPeriod")]
|
[JsonPropertyName("servoPeriod")]
|
||||||
public TimeSpan ServoPeriod { get; }
|
public TimeSpan ServoPeriod { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("triggerPeriod")]
|
[JsonPropertyName("triggerPeriod")]
|
||||||
public TimeSpan TriggerPeriod { get; }
|
public TimeSpan TriggerPeriod { get; }
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
public sealed class JointLimit
|
public sealed class JointLimit
|
||||||
{
|
{
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Initializes a validated joint limit record.
|
/// 初始化一个已校验的关节约束记录。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public JointLimit(string jointName, double velocityLimit, double accelerationLimit, double jerkLimit)
|
public JointLimit(string jointName, double velocityLimit, double accelerationLimit, double jerkLimit)
|
||||||
{
|
{
|
||||||
@@ -145,37 +145,37 @@ public sealed class JointLimit
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the joint name associated with the limits.
|
/// 获取该约束对应的关节名称。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("jointName")]
|
[JsonPropertyName("jointName")]
|
||||||
public string JointName { get; }
|
public string JointName { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the velocity limit in joint space units.
|
/// 获取关节空间单位下的速度上限。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("velocityLimit")]
|
[JsonPropertyName("velocityLimit")]
|
||||||
public double VelocityLimit { get; }
|
public double VelocityLimit { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("accelerationLimit")]
|
[JsonPropertyName("accelerationLimit")]
|
||||||
public double AccelerationLimit { get; }
|
public double AccelerationLimit { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the jerk limit in joint space units.
|
/// 获取关节空间单位下的跃度上限。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("jerkLimit")]
|
[JsonPropertyName("jerkLimit")]
|
||||||
public double JerkLimit { get; }
|
public double JerkLimit { get; }
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
public sealed class JointCoupling
|
public sealed class JointCoupling
|
||||||
{
|
{
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Initializes a validated joint-coupling description.
|
/// 初始化一个已校验的关节耦合描述。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public JointCoupling(string slaveJointName, string masterJointName, double multiplier, double offset)
|
public JointCoupling(string slaveJointName, string masterJointName, double multiplier, double offset)
|
||||||
{
|
{
|
||||||
@@ -201,25 +201,25 @@ public sealed class JointCoupling
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the dependent joint name.
|
/// 获取从属（被驱动）关节名称。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("slaveJointName")]
|
[JsonPropertyName("slaveJointName")]
|
||||||
public string SlaveJointName { get; }
|
public string SlaveJointName { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the source joint name.
|
/// 获取主导（驱动）关节名称。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("masterJointName")]
|
[JsonPropertyName("masterJointName")]
|
||||||
public string MasterJointName { get; }
|
public string MasterJointName { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("multiplier")]
|
[JsonPropertyName("multiplier")]
|
||||||
public double Multiplier { get; }
|
public double Multiplier { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[JsonPropertyName("offset")]
|
[JsonPropertyName("offset")]
|
||||||
public double Offset { get; }
|
public double Offset { get; }
|
||||||
|
|||||||
@@ -22,7 +22,10 @@ public sealed class TrajectoryResult
|
|||||||
bool usedCache,
|
bool usedCache,
|
||||||
int originalWaypointCount,
|
int originalWaypointCount,
|
||||||
int plannedWaypointCount,
|
int plannedWaypointCount,
|
||||||
IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null)
|
int triggerSampleIndexOffsetCycles = 0,
|
||||||
|
IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null,
|
||||||
|
FlyshotPreparedExecution? preparedFlyshotExecution = null,
|
||||||
|
IEnumerable<IReadOnlyList<double>>? denseCartesianTrajectory = null)
|
||||||
{
|
{
|
||||||
if (string.IsNullOrWhiteSpace(programName))
|
if (string.IsNullOrWhiteSpace(programName))
|
||||||
{
|
{
|
||||||
@@ -44,6 +47,11 @@ public sealed class TrajectoryResult
|
|||||||
throw new ArgumentOutOfRangeException(nameof(plannedWaypointCount), "Planned waypoint count must be greater than or equal to the original waypoint count.");
|
throw new ArgumentOutOfRangeException(nameof(plannedWaypointCount), "Planned waypoint count must be greater than or equal to the original waypoint count.");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (triggerSampleIndexOffsetCycles < 0)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(triggerSampleIndexOffsetCycles), "Trigger sample index offset cycles must be zero or positive.");
|
||||||
|
}
|
||||||
|
|
||||||
ArgumentNullException.ThrowIfNull(shotEvents);
|
ArgumentNullException.ThrowIfNull(shotEvents);
|
||||||
ArgumentNullException.ThrowIfNull(triggerTimeline);
|
ArgumentNullException.ThrowIfNull(triggerTimeline);
|
||||||
ArgumentNullException.ThrowIfNull(artifacts);
|
ArgumentNullException.ThrowIfNull(artifacts);
|
||||||
@@ -53,6 +61,7 @@ public sealed class TrajectoryResult
|
|||||||
var copiedTriggerTimeline = triggerTimeline.ToArray();
|
var copiedTriggerTimeline = triggerTimeline.ToArray();
|
||||||
var copiedArtifacts = artifacts.ToArray();
|
var copiedArtifacts = artifacts.ToArray();
|
||||||
var copiedDenseJointTrajectory = denseJointTrajectory?.Select(static row => row.ToArray()).ToArray();
|
var copiedDenseJointTrajectory = denseJointTrajectory?.Select(static row => row.ToArray()).ToArray();
|
||||||
|
var copiedDenseCartesianTrajectory = denseCartesianTrajectory?.Select(static row => row.ToArray()).ToArray();
|
||||||
|
|
||||||
ProgramName = programName;
|
ProgramName = programName;
|
||||||
Method = method;
|
Method = method;
|
||||||
@@ -65,7 +74,10 @@ public sealed class TrajectoryResult
|
|||||||
UsedCache = usedCache;
|
UsedCache = usedCache;
|
||||||
OriginalWaypointCount = originalWaypointCount;
|
OriginalWaypointCount = originalWaypointCount;
|
||||||
PlannedWaypointCount = plannedWaypointCount;
|
PlannedWaypointCount = plannedWaypointCount;
|
||||||
|
TriggerSampleIndexOffsetCycles = triggerSampleIndexOffsetCycles;
|
||||||
DenseJointTrajectory = copiedDenseJointTrajectory;
|
DenseJointTrajectory = copiedDenseJointTrajectory;
|
||||||
|
DenseCartesianTrajectory = copiedDenseCartesianTrajectory;
|
||||||
|
PreparedFlyshotExecution = preparedFlyshotExecution;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -134,12 +146,31 @@ public sealed class TrajectoryResult
|
|||||||
[JsonPropertyName("plannedWaypointCount")]
|
[JsonPropertyName("plannedWaypointCount")]
|
||||||
public int PlannedWaypointCount { get; }
|
public int PlannedWaypointCount { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Gets the configured command-sample offset applied after trigger binding picks the best sample.
|
||||||
|
/// </summary>
|
||||||
|
[JsonPropertyName("triggerSampleIndexOffsetCycles")]
|
||||||
|
public int TriggerSampleIndexOffsetCycles { get; }
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Gets the dense joint trajectory samples where each row is [time, j1, j2, ...].
|
/// Gets the dense joint trajectory samples where each row is [time, j1, j2, ...].
|
||||||
/// Null when dense sampling was not performed (e.g. simulation fallback).
|
/// Null when dense sampling was not performed (e.g. simulation fallback).
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("denseJointTrajectory")]
|
[JsonPropertyName("denseJointTrajectory")]
|
||||||
public IReadOnlyList<IReadOnlyList<double>>? DenseJointTrajectory { get; }
|
public IReadOnlyList<IReadOnlyList<double>>? DenseJointTrajectory { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取稠密直角坐标轨迹采样点，每行格式为 [time, x, y, z, w, p, r]。
|
||||||
|
/// Null 表示本结果不是直角流式运动。
|
||||||
|
/// </summary>
|
||||||
|
[JsonPropertyName("denseCartesianTrajectory")]
|
||||||
|
public IReadOnlyList<IReadOnlyList<double>>? DenseCartesianTrajectory { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Gets the prepared flyshot execution queue when the flyshot chain has already built the final 8ms send sequence.
|
||||||
|
/// </summary>
|
||||||
|
[JsonIgnore]
|
||||||
|
public FlyshotPreparedExecution? PreparedFlyshotExecution { get; }
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -150,7 +181,13 @@ public sealed class TrajectoryDoEvent
|
|||||||
/// <summary>
|
/// <summary>
|
||||||
/// Initializes a validated runtime trigger event.
|
/// Initializes a validated runtime trigger event.
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public TrajectoryDoEvent(int waypointIndex, double triggerTime, int offsetCycles, int holdCycles, IoAddressGroup addressGroup)
|
public TrajectoryDoEvent(
|
||||||
|
int waypointIndex,
|
||||||
|
double triggerTime,
|
||||||
|
int offsetCycles,
|
||||||
|
int holdCycles,
|
||||||
|
IoAddressGroup addressGroup,
|
||||||
|
IEnumerable<double>? referenceJointsDegrees = null)
|
||||||
{
|
{
|
||||||
if (waypointIndex < 0)
|
if (waypointIndex < 0)
|
||||||
{
|
{
|
||||||
@@ -172,6 +209,7 @@ public sealed class TrajectoryDoEvent
|
|||||||
OffsetCycles = offsetCycles;
|
OffsetCycles = offsetCycles;
|
||||||
HoldCycles = holdCycles;
|
HoldCycles = holdCycles;
|
||||||
AddressGroup = addressGroup ?? throw new ArgumentNullException(nameof(addressGroup));
|
AddressGroup = addressGroup ?? throw new ArgumentNullException(nameof(addressGroup));
|
||||||
|
ReferenceJointsDegrees = referenceJointsDegrees?.ToArray();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -203,6 +241,13 @@ public sealed class TrajectoryDoEvent
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
[JsonPropertyName("addressGroup")]
|
[JsonPropertyName("addressGroup")]
|
||||||
public IoAddressGroup AddressGroup { get; }
|
public IoAddressGroup AddressGroup { get; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Gets the teach waypoint joints converted to degrees.
|
||||||
|
/// This is used to select the closest real send sample inside the trigger time window.
|
||||||
|
/// </summary>
|
||||||
|
[JsonPropertyName("referenceJointsDegrees")]
|
||||||
|
public IReadOnlyList<double>? ReferenceJointsDegrees { get; }
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
|
|||||||
@@ -1,6 +1,7 @@
|
|||||||
using System.Text;
|
using System.Text;
|
||||||
using System.Text.Json;
|
using System.Text.Json;
|
||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
|
using Flyshot.Core.Planning.Sampling;
|
||||||
|
|
||||||
namespace Flyshot.Core.Planning.Export;
|
namespace Flyshot.Core.Planning.Export;
|
||||||
|
|
||||||
@@ -52,13 +53,51 @@ public static class TrajectoryExporter
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
public static void WriteShotEvents(string path, IReadOnlyList<ShotEvent> events)
|
public static void WriteShotEvents(string path, IReadOnlyList<ShotEvent> events)
|
||||||
{
|
{
|
||||||
|
WriteShotEvents(path, events, bindings: null);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 导出触发事件到 JSON 文件，并可选附带最终绑定到的实际 sample 信息。
|
||||||
|
/// </summary>
|
||||||
|
public static void WriteShotEvents(
|
||||||
|
string path,
|
||||||
|
IReadOnlyList<ShotEvent> events,
|
||||||
|
IReadOnlyList<TriggerSampleBinding>? bindings)
|
||||||
|
{
|
||||||
|
var bindingByWaypointIndex = bindings?
|
||||||
|
.GroupBy(static binding => binding.Trigger.WaypointIndex)
|
||||||
|
.ToDictionary(static group => group.Key, static group => group.First());
|
||||||
|
|
||||||
var payload = events.Select(e => new
|
var payload = events.Select(e => new
|
||||||
{
|
{
|
||||||
waypoint_index = e.WaypointIndex,
|
waypoint_index = e.WaypointIndex,
|
||||||
trigger_time = Math.Round(e.TriggerTime, 6),
|
trigger_time = Math.Round(e.TriggerTime, 6),
|
||||||
sample_index = e.SampleIndex,
|
sample_index = e.SampleIndex,
|
||||||
sample_time = Math.Round(e.SampleTime, 6),
|
sample_time = Math.Round(e.SampleTime, 6),
|
||||||
addrs = e.AddressGroup.Addresses.ToList()
|
addrs = e.AddressGroup.Addresses.ToList(),
|
||||||
|
trigger_window_seconds = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out var binding)
|
||||||
|
? Math.Round(TriggerSampleBinder.TriggerBindingToleranceSeconds, 6)
|
||||||
|
: (double?)null,
|
||||||
|
selected_sample_index = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding)
|
||||||
|
? binding.SampleIndex
|
||||||
|
: (int?)null,
|
||||||
|
selected_send_time = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding)
|
||||||
|
? Math.Round(binding.Sample.SendTime, 6)
|
||||||
|
: (double?)null,
|
||||||
|
selected_trajectory_time = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding)
|
||||||
|
? Math.Round(binding.Sample.TrajectoryTime, 6)
|
||||||
|
: (double?)null,
|
||||||
|
io_mask = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding)
|
||||||
|
? ComputeIoValue(binding.Trigger.AddressGroup)
|
||||||
|
: (ushort?)null,
|
||||||
|
reference_joints_deg = bindingByWaypointIndex is not null
|
||||||
|
&& bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding)
|
||||||
|
&& binding.Trigger.ReferenceJointsDegrees is { Count: > 0 }
|
||||||
|
? binding.Trigger.ReferenceJointsDegrees.Select(static value => Math.Round(value, 6)).ToArray()
|
||||||
|
: null,
|
||||||
|
trigger_joints_deg = bindingByWaypointIndex is not null && bindingByWaypointIndex.TryGetValue(e.WaypointIndex, out binding)
|
||||||
|
? binding.Sample.JointsDegrees.Select(static value => Math.Round(value, 6)).ToArray()
|
||||||
|
: null
|
||||||
}).ToList();
|
}).ToList();
|
||||||
|
|
||||||
var json = JsonSerializer.Serialize(payload, new JsonSerializerOptions
|
var json = JsonSerializer.Serialize(payload, new JsonSerializerOptions
|
||||||
@@ -79,4 +118,21 @@ public static class TrajectoryExporter
|
|||||||
|
|
||||||
File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false));
|
File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 把 IO 地址组中的地址号映射为 writeIoValue 的位掩码，和运行时 / saveTrajectory 导出保持一致。
|
||||||
|
/// </summary>
|
||||||
|
private static ushort ComputeIoValue(IoAddressGroup group)
|
||||||
|
{
|
||||||
|
ushort value = 0;
|
||||||
|
foreach (var addr in group.Addresses)
|
||||||
|
{
|
||||||
|
if (addr is >= 1 and <= 16)
|
||||||
|
{
|
||||||
|
value |= (ushort)(1 << (addr - 1));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return value;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
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`
|
||||||
|
|
||||||
@@ -0,0 +1,146 @@
|
|||||||
|
using Flyshot.Core.Domain;
|
||||||
|
|
||||||
|
namespace Flyshot.Core.Planning.Sampling;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 负责在飞拍进入运行时前构建最终 8ms 发送队列，并执行发送口径的离散限幅校验。
|
||||||
|
/// </summary>
|
||||||
|
public static class FlyshotExecutionSendSequenceBuilder
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 根据连续规划轨迹构建最终发送队列；请求 speedRatio 只作为诊断信息保留。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="robot">机器人关节限值配置。</param>
|
||||||
|
/// <param name="plannedTrajectory">规划阶段产出的连续轨迹。</param>
|
||||||
|
/// <param name="result">规划结果。</param>
|
||||||
|
/// <param name="servoPeriodSeconds">J519 物理发送周期，单位为秒。</param>
|
||||||
|
/// <param name="requestedSpeedRatio">请求的执行倍率，必须已经在规划阶段折算进轨迹。</param>
|
||||||
|
/// <param name="samplingSpeedRatio">最终队列采样倍率；为空时使用 1.0，表示直接采样已调速后的规划轨迹。</param>
|
||||||
|
/// <returns>通过离散校验后的飞拍最终发送结果。</returns>
|
||||||
|
public static FlyshotPreparedExecution Build(
|
||||||
|
RobotProfile robot,
|
||||||
|
PlannedTrajectory plannedTrajectory,
|
||||||
|
TrajectoryResult result,
|
||||||
|
double servoPeriodSeconds,
|
||||||
|
double requestedSpeedRatio,
|
||||||
|
double? samplingSpeedRatio = null)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(robot);
|
||||||
|
ArgumentNullException.ThrowIfNull(plannedTrajectory);
|
||||||
|
ArgumentNullException.ThrowIfNull(result);
|
||||||
|
|
||||||
|
if (requestedSpeedRatio <= 0.0 || double.IsNaN(requestedSpeedRatio) || double.IsInfinity(requestedSpeedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(requestedSpeedRatio), "speed_ratio 必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (servoPeriodSeconds <= 0.0 || double.IsNaN(servoPeriodSeconds) || double.IsInfinity(servoPeriodSeconds))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(servoPeriodSeconds), "伺服周期必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
var finalSpeedRatio = samplingSpeedRatio ?? 1.0;
|
||||||
|
if (finalSpeedRatio <= 0.0 || double.IsNaN(finalSpeedRatio) || double.IsInfinity(finalSpeedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(samplingSpeedRatio), "最终队列采样倍率必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
var samples = J519SendTrajectorySampler.SamplePlannedTrajectory(
|
||||||
|
plannedTrajectory,
|
||||||
|
servoPeriodSeconds,
|
||||||
|
finalSpeedRatio);
|
||||||
|
|
||||||
|
try
|
||||||
|
{
|
||||||
|
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||||
|
robot,
|
||||||
|
samples,
|
||||||
|
trajectoryName: result.ProgramName,
|
||||||
|
validateJerk: false,
|
||||||
|
strictJerkTolerance: true);
|
||||||
|
}
|
||||||
|
catch (InvalidOperationException exception)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException(
|
||||||
|
$"飞拍最终发送队列在请求 speed_ratio={requestedSpeedRatio:F6} 下离散限幅校验失败。" +
|
||||||
|
"请降低 planning_speed_scale 或 speed_ratio 后重新规划；执行侧不会在发送阶段临场重采样。",
|
||||||
|
exception);
|
||||||
|
}
|
||||||
|
|
||||||
|
return BuildPreparedExecution(
|
||||||
|
result,
|
||||||
|
samples,
|
||||||
|
requestedSpeedRatio,
|
||||||
|
finalSpeedRatio,
|
||||||
|
stretchIterationCount: 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 将通过校验的 J519 采样点和触发绑定结果封装为稳定的飞拍执行结果。
|
||||||
|
/// </summary>
|
||||||
|
private static FlyshotPreparedExecution BuildPreparedExecution(
|
||||||
|
TrajectoryResult result,
|
||||||
|
IReadOnlyList<J519SendSample> samples,
|
||||||
|
double requestedSpeedRatio,
|
||||||
|
double finalSpeedRatio,
|
||||||
|
int stretchIterationCount)
|
||||||
|
{
|
||||||
|
var preparedSamples = samples.Select(static sample =>
|
||||||
|
new FlyshotPreparedSample(
|
||||||
|
sample.SampleIndex,
|
||||||
|
sample.SendTime,
|
||||||
|
sample.TrajectoryTime,
|
||||||
|
sample.SpeedRatio,
|
||||||
|
sample.JointsDegrees)).ToArray();
|
||||||
|
var sampleLookup = preparedSamples.ToDictionary(static sample => sample.SampleIndex);
|
||||||
|
var triggerBindings = TriggerSampleBinder.Bind(
|
||||||
|
result.TriggerTimeline,
|
||||||
|
samples,
|
||||||
|
result.TriggerSampleIndexOffsetCycles)
|
||||||
|
.Select(binding =>
|
||||||
|
new FlyshotPreparedTriggerBinding(
|
||||||
|
binding.Trigger,
|
||||||
|
sampleLookup[binding.Sample.SampleIndex],
|
||||||
|
binding.SampleIndex,
|
||||||
|
binding.FoundInWindow))
|
||||||
|
.ToArray();
|
||||||
|
var timingRows = samples
|
||||||
|
.Select(sample => J519SendTrajectorySampler.BuildTimingRow(sample, requestedSpeedRatio, stretchIterationCount))
|
||||||
|
.ToArray();
|
||||||
|
var jerkRows = BuildJerkRows(samples);
|
||||||
|
var finalDurationSeconds = preparedSamples.Length == 0 ? 0.0 : preparedSamples[^1].SendTime;
|
||||||
|
|
||||||
|
return new FlyshotPreparedExecution(
|
||||||
|
preparedSamples,
|
||||||
|
triggerBindings,
|
||||||
|
timingRows,
|
||||||
|
jerkRows,
|
||||||
|
requestedSpeedRatio,
|
||||||
|
finalSpeedRatio,
|
||||||
|
finalDurationSeconds,
|
||||||
|
stretchIterationCount);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 为最终发送点列构建跃度诊断行，保证导出工件和运行时发送复用同一份数据。
|
||||||
|
/// </summary>
|
||||||
|
private static IReadOnlyList<IReadOnlyList<double>> BuildJerkRows(IReadOnlyList<J519SendSample> samples)
|
||||||
|
{
|
||||||
|
var jerkRows = new List<IReadOnlyList<double>>(Math.Max(0, samples.Count - 1));
|
||||||
|
double[]? previousVelocity = null;
|
||||||
|
double[]? previousAcceleration = null;
|
||||||
|
|
||||||
|
for (var index = 1; index < samples.Count; index++)
|
||||||
|
{
|
||||||
|
jerkRows.Add(J519SendTrajectorySampler.BuildJerkRow(
|
||||||
|
samples[index - 1].SendTime,
|
||||||
|
samples[index].SendTime,
|
||||||
|
samples[index - 1].JointsDegrees,
|
||||||
|
samples[index].JointsDegrees,
|
||||||
|
ref previousVelocity,
|
||||||
|
ref previousAcceleration));
|
||||||
|
}
|
||||||
|
|
||||||
|
return jerkRows;
|
||||||
|
}
|
||||||
|
}
|
||||||
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();
|
||||||
|
}
|
||||||
352
src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs
Normal file
352
src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs
Normal file
@@ -0,0 +1,352 @@
|
|||||||
|
using Flyshot.Core.Planning;
|
||||||
|
|
||||||
|
namespace Flyshot.Core.Planning.Sampling;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 负责把规划层关节轨迹重采样为 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>
|
||||||
|
/// 飞拍最终发送队列优先从 <see cref="PlannedTrajectory"/> 重建连续三次样条并直接取点；
|
||||||
|
/// 旧稠密点入口仅保留给运行时 fallback 和兼容导出。
|
||||||
|
/// 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)。
|
||||||
|
/// 之后在连续样条或旧稠密轨迹上求取关节，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>
|
||||||
|
/// 根据连续规划样条和 J519 伺服周期生成完整实发采样序列。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="trajectory">规划阶段产出的连续轨迹信息。</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> SamplePlannedTrajectory(
|
||||||
|
PlannedTrajectory trajectory,
|
||||||
|
double servoPeriodSeconds,
|
||||||
|
double speedRatio)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(trajectory);
|
||||||
|
ValidatePlannedTrajectoryInputs(trajectory, servoPeriodSeconds, speedRatio);
|
||||||
|
|
||||||
|
var durationSeconds = trajectory.WaypointTimes[^1];
|
||||||
|
var trajectoryStepSeconds = servoPeriodSeconds * speedRatio;
|
||||||
|
var sampleCount = CalculateSampleCount(durationSeconds, trajectoryStepSeconds);
|
||||||
|
var spline = RebuildSpline(trajectory);
|
||||||
|
var samples = new List<J519SendSample>((int)Math.Min(sampleCount, int.MaxValue));
|
||||||
|
|
||||||
|
for (long sampleIndex = 0; sampleIndex < sampleCount; sampleIndex++)
|
||||||
|
{
|
||||||
|
// 直接在连续样条上按 trajectoryTime 取点，避免先离散再线性回采样引入局部跃度尖峰。
|
||||||
|
var sendTime = sampleIndex * servoPeriodSeconds;
|
||||||
|
var trajectoryTime = Math.Min(sendTime * speedRatio, durationSeconds);
|
||||||
|
var joints = spline.Evaluate(trajectoryTime).Select(RadiansToDegrees).ToArray();
|
||||||
|
samples.Add(new J519SendSample(sampleIndex, sendTime, trajectoryTime, speedRatio, joints));
|
||||||
|
}
|
||||||
|
|
||||||
|
return samples;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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 + final_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>
|
||||||
|
/// 构造带倍率诊断信息的实发时间映射文本行。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="sample">待写出的 J519 实发采样点。</param>
|
||||||
|
/// <param name="requestedSpeedRatio">用户请求的执行倍率。</param>
|
||||||
|
/// <param name="stretchIterationCount">历史诊断字段；当前执行侧不自动改写 speed_ratio，因此正常为 0。</param>
|
||||||
|
/// <returns>前 4 列兼容 ActualSendTiming.txt，后续列记录请求倍率和倍率改写次数。</returns>
|
||||||
|
public static IReadOnlyList<double> BuildTimingRow(
|
||||||
|
J519SendSample sample,
|
||||||
|
double requestedSpeedRatio,
|
||||||
|
int stretchIterationCount)
|
||||||
|
{
|
||||||
|
if (requestedSpeedRatio <= 0.0 || double.IsNaN(requestedSpeedRatio) || double.IsInfinity(requestedSpeedRatio))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(requestedSpeedRatio), "请求 speed_ratio 必须是有限正数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (stretchIterationCount < 0)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(stretchIterationCount), "倍率改写次数不能为负数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
var legacyRow = BuildTimingRow(sample);
|
||||||
|
return
|
||||||
|
[
|
||||||
|
legacyRow[0],
|
||||||
|
legacyRow[1],
|
||||||
|
legacyRow[2],
|
||||||
|
legacyRow[3],
|
||||||
|
Math.Round(requestedSpeedRatio, 6),
|
||||||
|
stretchIterationCount
|
||||||
|
];
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
||||||
|
/// 校验连续规划轨迹采样入口的基础输入，避免异常时间轴进入最终发送队列。
|
||||||
|
/// </summary>
|
||||||
|
private static void ValidatePlannedTrajectoryInputs(
|
||||||
|
PlannedTrajectory trajectory,
|
||||||
|
double servoPeriodSeconds,
|
||||||
|
double speedRatio)
|
||||||
|
{
|
||||||
|
if (trajectory.WaypointTimes.Count < 2)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("规划轨迹至少需要两个路点才能重建连续样条。");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (trajectory.WaypointTimes[^1] < 0.0)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(trajectory), "规划轨迹总时长不能为负数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
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>
|
||||||
|
/// 从规划轨迹重建连续三次样条，供飞拍最终发送队列直接采样。
|
||||||
|
/// </summary>
|
||||||
|
private static CubicSplineInterpolator RebuildSpline(PlannedTrajectory trajectory)
|
||||||
|
{
|
||||||
|
var times = trajectory.WaypointTimes.ToArray();
|
||||||
|
var values = trajectory.PlannedWaypoints.Select(static waypoint => waypoint.Positions.ToArray()).ToArray();
|
||||||
|
return new CubicSplineInterpolator(times, values);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 角度单位转换：rad -> deg。
|
||||||
|
/// </summary>
|
||||||
|
private static double RadiansToDegrees(double radians)
|
||||||
|
{
|
||||||
|
return radians * 180.0 / Math.PI;
|
||||||
|
}
|
||||||
|
}
|
||||||
220
src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs
Normal file
220
src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs
Normal file
@@ -0,0 +1,220 @@
|
|||||||
|
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>
|
||||||
|
/// <param name="validateJerk">是否校验离散 jerk；飞拍链路可临时关闭，仅保留速度/加速度约束。</param>
|
||||||
|
public static void ValidateDenseJointTrajectory(
|
||||||
|
RobotProfile robot,
|
||||||
|
IReadOnlyList<IReadOnlyList<double>> rows,
|
||||||
|
double toleranceMultiplier = DefaultLimitTolerance,
|
||||||
|
string? trajectoryName = null,
|
||||||
|
bool validateJerk = true)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(robot);
|
||||||
|
ArgumentNullException.ThrowIfNull(rows);
|
||||||
|
ValidateTolerance(toleranceMultiplier);
|
||||||
|
ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "dense-joint-trajectory", validateJerk);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
||||||
|
/// <param name="validateJerk">是否校验离散 jerk；飞拍链路可临时关闭，仅保留速度/加速度约束。</param>
|
||||||
|
/// <param name="strictJerkTolerance">是否按原始 jerk 限值做硬约束；false 时保留历史宽容口径。</param>
|
||||||
|
public static void ValidateJ519SendSamples(
|
||||||
|
RobotProfile robot,
|
||||||
|
IReadOnlyList<J519SendSample> samples,
|
||||||
|
double toleranceMultiplier = DefaultLimitTolerance,
|
||||||
|
string? trajectoryName = null,
|
||||||
|
bool validateJerk = false,
|
||||||
|
bool strictJerkTolerance = true)
|
||||||
|
{
|
||||||
|
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",
|
||||||
|
validateJerk,
|
||||||
|
strictJerkTolerance);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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,
|
||||||
|
bool validateJerk,
|
||||||
|
bool strictJerkTolerance = false)
|
||||||
|
{
|
||||||
|
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 (validateJerk && previousAccelerations is not null)
|
||||||
|
{
|
||||||
|
var jerk = (currentAccelerations[index] - previousAccelerations[index]) / dt;
|
||||||
|
ThrowIfExceeded(
|
||||||
|
trajectoryName,
|
||||||
|
rowIndex,
|
||||||
|
previousTime.Value,
|
||||||
|
currentTime,
|
||||||
|
jointLimit.JointName,
|
||||||
|
"Jerk",
|
||||||
|
jerk,
|
||||||
|
jointLimit.JerkLimit,
|
||||||
|
strictJerkTolerance ? toleranceMultiplier : toleranceMultiplier * 4.0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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(
|
public static IReadOnlyList<IReadOnlyList<double>> SampleJointTrajectory(
|
||||||
PlannedTrajectory trajectory,
|
PlannedTrajectory trajectory,
|
||||||
double samplePeriod = 0.016,
|
double samplePeriod = 0.016,
|
||||||
int decimals = 6)
|
int decimals = 6,
|
||||||
|
bool smoothStartStop = false)
|
||||||
{
|
{
|
||||||
var spline = RebuildSpline(trajectory);
|
var spline = RebuildSpline(trajectory);
|
||||||
double duration = trajectory.WaypointTimes[^1];
|
double duration = trajectory.WaypointTimes[^1];
|
||||||
@@ -28,7 +29,10 @@ public static class TrajectorySampler
|
|||||||
|
|
||||||
foreach (var t in times)
|
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);
|
var row = new List<double>(pos.Length + 1);
|
||||||
row.Add(Math.Round(t, decimals));
|
row.Add(Math.Round(t, decimals));
|
||||||
foreach (var value in pos)
|
foreach (var value in pos)
|
||||||
@@ -49,7 +53,8 @@ public static class TrajectorySampler
|
|||||||
PlannedTrajectory trajectory,
|
PlannedTrajectory trajectory,
|
||||||
RobotKinematicsModel kinematicsModel,
|
RobotKinematicsModel kinematicsModel,
|
||||||
double samplePeriod = 0.016,
|
double samplePeriod = 0.016,
|
||||||
int decimals = 6)
|
int decimals = 6,
|
||||||
|
bool smoothStartStop = false)
|
||||||
{
|
{
|
||||||
var spline = RebuildSpline(trajectory);
|
var spline = RebuildSpline(trajectory);
|
||||||
double duration = trajectory.WaypointTimes[^1];
|
double duration = trajectory.WaypointTimes[^1];
|
||||||
@@ -58,7 +63,10 @@ public static class TrajectorySampler
|
|||||||
|
|
||||||
foreach (var t in times)
|
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 pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPos);
|
||||||
var row = new List<double>(pose.Length + 1);
|
var row = new List<double>(pose.Length + 1);
|
||||||
row.Add(Math.Round(t, decimals));
|
row.Add(Math.Round(t, decimals));
|
||||||
@@ -103,4 +111,26 @@ public static class TrajectorySampler
|
|||||||
|
|
||||||
return times;
|
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;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
134
src/Flyshot.Core.Planning/Sampling/TriggerSampleBinder.cs
Normal file
134
src/Flyshot.Core.Planning/Sampling/TriggerSampleBinder.cs
Normal file
@@ -0,0 +1,134 @@
|
|||||||
|
using Flyshot.Core.Domain;
|
||||||
|
|
||||||
|
namespace Flyshot.Core.Planning.Sampling;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 负责把理论触发事件绑定到实际 J519 发送 sample。
|
||||||
|
/// 绑定规则为：先在理论触发时间前后固定时间窗内筛候选点，再优先选择关节差最小的 sample。
|
||||||
|
/// </summary>
|
||||||
|
public static class TriggerSampleBinder
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 当前触发绑定使用的固定近时窗半宽，单位为秒。
|
||||||
|
/// 即：以理论触发时间为中心，在前后各 100ms 的范围内寻找最优 sample。
|
||||||
|
/// </summary>
|
||||||
|
public const double TriggerBindingToleranceSeconds = 0.1;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 把一组触发事件绑定到采样后的 J519 sample。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="triggers">待绑定的触发事件。</param>
|
||||||
|
/// <param name="samples">J519 实发 sample。</param>
|
||||||
|
/// <param name="sampleIndexOffsetCycles">在最佳绑定 sample 基础上继续向后偏移的命令周期数。</param>
|
||||||
|
/// <returns>按最终 sampleIndex 排序的绑定结果。</returns>
|
||||||
|
public static IReadOnlyList<TriggerSampleBinding> Bind(
|
||||||
|
IReadOnlyList<TrajectoryDoEvent> triggers,
|
||||||
|
IReadOnlyList<J519SendSample> samples,
|
||||||
|
int sampleIndexOffsetCycles = 0)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(triggers);
|
||||||
|
ArgumentNullException.ThrowIfNull(samples);
|
||||||
|
if (sampleIndexOffsetCycles < 0)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(sampleIndexOffsetCycles), "触发 sample 偏移周期不能为负数。");
|
||||||
|
}
|
||||||
|
|
||||||
|
var bindings = new List<TriggerSampleBinding>(triggers.Count);
|
||||||
|
if (triggers.Count == 0 || samples.Count == 0)
|
||||||
|
{
|
||||||
|
return bindings;
|
||||||
|
}
|
||||||
|
|
||||||
|
var lastSampleIndex = samples.Count - 1;
|
||||||
|
foreach (var trigger in triggers)
|
||||||
|
{
|
||||||
|
var fallbackIndex = FindClosestTrajectoryTimeSampleIndex(samples, trigger.TriggerTime);
|
||||||
|
var candidateStart = Math.Max(0, fallbackIndex - 1);
|
||||||
|
var candidateEnd = Math.Min(lastSampleIndex, fallbackIndex + 1);
|
||||||
|
var bestIndex = fallbackIndex;
|
||||||
|
var bestScore = double.PositiveInfinity;
|
||||||
|
var foundInWindow = false;
|
||||||
|
|
||||||
|
for (var sampleIndex = candidateStart; sampleIndex <= candidateEnd; sampleIndex++)
|
||||||
|
{
|
||||||
|
var sample = samples[sampleIndex];
|
||||||
|
if (Math.Abs(sample.TrajectoryTime - trigger.TriggerTime) > TriggerBindingToleranceSeconds)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
foundInWindow = true;
|
||||||
|
var score = trigger.ReferenceJointsDegrees is { Count: > 0 }
|
||||||
|
? ComputeJointDifferenceScore(trigger.ReferenceJointsDegrees, sample.JointsDegrees)
|
||||||
|
: Math.Abs(sample.TrajectoryTime - trigger.TriggerTime);
|
||||||
|
if (score < bestScore)
|
||||||
|
{
|
||||||
|
bestScore = score;
|
||||||
|
bestIndex = sampleIndex;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
var finalIndex = Math.Min(lastSampleIndex, bestIndex + sampleIndexOffsetCycles);
|
||||||
|
bindings.Add(new TriggerSampleBinding(trigger, samples[finalIndex], finalIndex, foundInWindow));
|
||||||
|
}
|
||||||
|
|
||||||
|
return bindings
|
||||||
|
.OrderBy(static binding => binding.SampleIndex)
|
||||||
|
.ThenBy(static binding => binding.Trigger.WaypointIndex)
|
||||||
|
.ToArray();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 按轨迹时间找到最接近理论触发时刻的 sample。
|
||||||
|
/// </summary>
|
||||||
|
public static int FindClosestTrajectoryTimeSampleIndex(IReadOnlyList<J519SendSample> samples, double triggerTime)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(samples);
|
||||||
|
|
||||||
|
var bestIndex = 0;
|
||||||
|
var bestDelta = double.PositiveInfinity;
|
||||||
|
for (var sampleIndex = 0; sampleIndex < samples.Count; sampleIndex++)
|
||||||
|
{
|
||||||
|
var delta = Math.Abs(samples[sampleIndex].TrajectoryTime - triggerTime);
|
||||||
|
if (delta < bestDelta)
|
||||||
|
{
|
||||||
|
bestDelta = delta;
|
||||||
|
bestIndex = sampleIndex;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return bestIndex;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 计算参考示教点与候选 sample 的关节差评分，使用平方和即可稳定排序。
|
||||||
|
/// </summary>
|
||||||
|
public static double ComputeJointDifferenceScore(
|
||||||
|
IReadOnlyList<double>? referenceJointsDegrees,
|
||||||
|
IReadOnlyList<double> sampleJointsDegrees)
|
||||||
|
{
|
||||||
|
if (referenceJointsDegrees is null || referenceJointsDegrees.Count == 0)
|
||||||
|
{
|
||||||
|
return 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
var jointCount = Math.Min(referenceJointsDegrees.Count, sampleJointsDegrees.Count);
|
||||||
|
var score = 0.0;
|
||||||
|
for (var index = 0; index < jointCount; index++)
|
||||||
|
{
|
||||||
|
var delta = sampleJointsDegrees[index] - referenceJointsDegrees[index];
|
||||||
|
score += delta * delta;
|
||||||
|
}
|
||||||
|
|
||||||
|
return score;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 表示一个理论触发事件最终绑定到哪个 J519 sample 的结果。
|
||||||
|
/// </summary>
|
||||||
|
public sealed record TriggerSampleBinding(
|
||||||
|
TrajectoryDoEvent Trigger,
|
||||||
|
J519SendSample Sample,
|
||||||
|
int SampleIndex,
|
||||||
|
bool FoundInWindow);
|
||||||
@@ -8,9 +8,22 @@ namespace Flyshot.Core.Triggering;
|
|||||||
/// 根据规划轨迹和飞拍配置生成触发时间轴，把示教点上的 shot_flags / offset_values / addr
|
/// 根据规划轨迹和飞拍配置生成触发时间轴，把示教点上的 shot_flags / offset_values / addr
|
||||||
/// 映射成带理论时间和离散化时间的 ShotEvent，以及可直接注入伺服流的 TrajectoryDoEvent。
|
/// 映射成带理论时间和离散化时间的 ShotEvent，以及可直接注入伺服流的 TrajectoryDoEvent。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
/// <remarks>
|
||||||
|
/// 本构建器只负责“时间轴映射”和“事件打包”，不负责轨迹规划与运行时发送。
|
||||||
|
/// 其中：
|
||||||
|
/// - ShotEvent 用于诊断、导出和日志观察；
|
||||||
|
/// - TrajectoryDoEvent 用于运行时伺服链路注入 DO 脉冲。
|
||||||
|
/// </remarks>
|
||||||
public sealed class ShotTimelineBuilder
|
public sealed class ShotTimelineBuilder
|
||||||
{
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// 将原始示教点索引映射到规划后时间轴上的时间戳解析器。
|
||||||
|
/// </summary>
|
||||||
private readonly WaypointTimestampResolver _resolver;
|
private readonly WaypointTimestampResolver _resolver;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 可选日志记录器，用于输出时间轴构建统计信息。
|
||||||
|
/// </summary>
|
||||||
private readonly ILogger<ShotTimelineBuilder>? _logger;
|
private readonly ILogger<ShotTimelineBuilder>? _logger;
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -32,6 +45,17 @@ public sealed class ShotTimelineBuilder
|
|||||||
/// <param name="samplePeriod">稠密采样周期，用于离散化 sample_index 和 sample_time。</param>
|
/// <param name="samplePeriod">稠密采样周期，用于离散化 sample_index 和 sample_time。</param>
|
||||||
/// <param name="useDo">是否生成可注入伺服流的 DO 事件。</param>
|
/// <param name="useDo">是否生成可注入伺服流的 DO 事件。</param>
|
||||||
/// <returns>包含 ShotEvent 和 TrajectoryDoEvent 的触发时间轴。</returns>
|
/// <returns>包含 ShotEvent 和 TrajectoryDoEvent 的触发时间轴。</returns>
|
||||||
|
/// <exception cref="ArgumentNullException">当 <paramref name="trajectory"/> 为 null 时抛出。</exception>
|
||||||
|
/// <exception cref="ArgumentOutOfRangeException">
|
||||||
|
/// 当 <paramref name="holdCycles"/> 小于 0，或 <paramref name="samplePeriod"/> 小于等于 0 时抛出。
|
||||||
|
/// </exception>
|
||||||
|
/// <remarks>
|
||||||
|
/// 时间计算规则：
|
||||||
|
/// - 理论触发时间：timestamp[i] + offset_values[i] * trigger_period；
|
||||||
|
/// - 离散采样索引：Round(trigger_time / sample_period)；
|
||||||
|
/// - 离散采样时间：sample_index * sample_period。
|
||||||
|
/// 该离散化与运行时 8ms 周期下发模型一致，可用于对齐导出与诊断。
|
||||||
|
/// </remarks>
|
||||||
public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod, bool useDo = true)
|
public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod, bool useDo = true)
|
||||||
{
|
{
|
||||||
ArgumentNullException.ThrowIfNull(trajectory);
|
ArgumentNullException.ThrowIfNull(trajectory);
|
||||||
@@ -55,6 +79,7 @@ public sealed class ShotTimelineBuilder
|
|||||||
var shotEvents = new List<ShotEvent>();
|
var shotEvents = new List<ShotEvent>();
|
||||||
var triggerTimeline = new List<TrajectoryDoEvent>();
|
var triggerTimeline = new List<TrajectoryDoEvent>();
|
||||||
|
|
||||||
|
// 遍历原始示教点，仅对 shot_flag=true 的点生成触发事件。
|
||||||
for (int i = 0; i < program.Waypoints.Count; i++)
|
for (int i = 0; i < program.Waypoints.Count; i++)
|
||||||
{
|
{
|
||||||
if (!program.ShotFlags[i])
|
if (!program.ShotFlags[i])
|
||||||
@@ -62,6 +87,7 @@ public sealed class ShotTimelineBuilder
|
|||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// 先得到连续时间上的理论触发时刻，再映射到离散采样周期。
|
||||||
double triggerTime = timestamps[i] + program.OffsetValues[i] * triggerPeriodSeconds;
|
double triggerTime = timestamps[i] + program.OffsetValues[i] * triggerPeriodSeconds;
|
||||||
int sampleIndex = (int)Math.Round(triggerTime / samplePeriodSeconds);
|
int sampleIndex = (int)Math.Round(triggerTime / samplePeriodSeconds);
|
||||||
double sampleTime = sampleIndex * samplePeriodSeconds;
|
double sampleTime = sampleIndex * samplePeriodSeconds;
|
||||||
@@ -83,7 +109,8 @@ public sealed class ShotTimelineBuilder
|
|||||||
triggerTime: triggerTime,
|
triggerTime: triggerTime,
|
||||||
offsetCycles: program.OffsetValues[i],
|
offsetCycles: program.OffsetValues[i],
|
||||||
holdCycles: holdCycles,
|
holdCycles: holdCycles,
|
||||||
addressGroup: addressGroup));
|
addressGroup: addressGroup,
|
||||||
|
referenceJointsDegrees: program.Waypoints[i].Positions.Select(static radians => radians * 180.0 / Math.PI)));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -113,4 +113,11 @@ public interface IControllerRuntime
|
|||||||
/// <param name="result">规划结果。</param>
|
/// <param name="result">规划结果。</param>
|
||||||
/// <param name="finalJointPositions">轨迹执行结束后的关节位置。</param>
|
/// <param name="finalJointPositions">轨迹执行结束后的关节位置。</param>
|
||||||
void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions);
|
void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions);
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 执行一条已经完成规划的直角坐标轨迹，并更新最终 TCP 位姿。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="result">规划结果，必须包含稠密直角坐标轨迹。</param>
|
||||||
|
/// <param name="finalPose">轨迹执行结束后的 [x,y,z,w,p,r] 位姿。</param>
|
||||||
|
void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose);
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,8 +1,12 @@
|
|||||||
using System.Diagnostics;
|
using System.Diagnostics;
|
||||||
|
using System.Text;
|
||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
|
using Flyshot.Core.Planning.Export;
|
||||||
|
using Flyshot.Core.Planning.Sampling;
|
||||||
using Flyshot.Runtime.Common;
|
using Flyshot.Runtime.Common;
|
||||||
using Flyshot.Runtime.Fanuc.Protocol;
|
using Flyshot.Runtime.Fanuc.Protocol;
|
||||||
using Microsoft.Extensions.Logging;
|
using Microsoft.Extensions.Logging;
|
||||||
|
using Microsoft.Extensions.Logging.Abstractions;
|
||||||
|
|
||||||
namespace Flyshot.Runtime.Fanuc;
|
namespace Flyshot.Runtime.Fanuc;
|
||||||
|
|
||||||
@@ -32,20 +36,31 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];
|
private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];
|
||||||
private bool _disposed;
|
private bool _disposed;
|
||||||
private CancellationTokenSource? _sendCts;
|
private CancellationTokenSource? _sendCts;
|
||||||
private Task? _sendTask;
|
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 初始化 FANUC 控制器运行时。
|
/// 初始化 FANUC 控制器运行时。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
|
/// <param name="logger">运行时日志记录器。</param>
|
||||||
public FanucControllerRuntime(ILogger<FanucControllerRuntime>? logger = null)
|
/// <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();
|
_commandClient = new FanucCommandClient();
|
||||||
_stateClient = new FanucStateClient();
|
_stateClient = new FanucStateClient();
|
||||||
_j519Client = new FanucJ519Client();
|
_j519Client = new FanucJ519Client(j519Logger);
|
||||||
_logger = logger;
|
_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>
|
/// <summary>
|
||||||
/// 供测试注入 mock 客户端的内部构造函数。
|
/// 供测试注入 mock 客户端的内部构造函数。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -166,6 +181,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
{
|
{
|
||||||
EnsureConnected();
|
EnsureConnected();
|
||||||
_bufferSize = bufferSize;
|
_bufferSize = bufferSize;
|
||||||
|
_j519Client.SetSequenceBufferSize(bufferSize);
|
||||||
|
|
||||||
if (IsSimulationMode)
|
if (IsSimulationMode)
|
||||||
{
|
{
|
||||||
@@ -174,10 +190,10 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
// 真机模式：走完整 RVBUSTSM 启动序列（与抓包一致）。
|
// 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.StopProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||||
_commandClient.ResetRobotAsync().GetAwaiter().GetResult();
|
_commandClient.ResetRobotAsync().GetAwaiter().GetResult();
|
||||||
_commandClient.GetProgramStatusAsync("RVBUSTSM").GetAwaiter().GetResult();
|
//_commandClient.GetProgramStatusAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||||
_commandClient.StartProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
|
_commandClient.StartProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
|
||||||
|
|
||||||
_j519Client.StartMotion();
|
_j519Client.StartMotion();
|
||||||
@@ -253,11 +269,11 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
|
|
||||||
lock (_stateLock)
|
lock (_stateLock)
|
||||||
{
|
{
|
||||||
EnsureConnected();
|
//EnsureConnected();
|
||||||
var clampedRatio = Math.Clamp(ratio, 0.0, 1.0);
|
var clampedRatio = Math.Clamp(ratio, 0.0, 1.0);
|
||||||
if (!IsSimulationMode)
|
if (!IsSimulationMode)
|
||||||
{
|
{
|
||||||
_commandClient.SetSpeedRatioAsync(clampedRatio).GetAwaiter().GetResult();
|
//_commandClient.SetSpeedRatioAsync(clampedRatio).GetAwaiter().GetResult();
|
||||||
}
|
}
|
||||||
|
|
||||||
_speedRatio = clampedRatio;
|
_speedRatio = clampedRatio;
|
||||||
@@ -453,6 +469,9 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
{
|
{
|
||||||
ArgumentNullException.ThrowIfNull(result);
|
ArgumentNullException.ThrowIfNull(result);
|
||||||
ArgumentNullException.ThrowIfNull(finalJointPositions);
|
ArgumentNullException.ThrowIfNull(finalJointPositions);
|
||||||
|
CancellationToken denseSendCancellationToken = default;
|
||||||
|
CancellationTokenSource? denseSendCancellationSource = null;
|
||||||
|
var shouldRunDenseTrajectory = false;
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_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}",
|
"ExecuteTrajectory 开始: program={ProgramName}, method={Method}, 时长={Duration}s, 稠密采样={HasDense}, 触发事件数={TriggerCount}, speedRatio={SpeedRatio}",
|
||||||
@@ -468,22 +487,19 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
|
|
||||||
if (!IsSimulationMode && result.DenseJointTrajectory is not null)
|
if (!IsSimulationMode && result.DenseJointTrajectory is not null)
|
||||||
{
|
{
|
||||||
if (_speedRatio <= 0.0)
|
|
||||||
{
|
|
||||||
throw new InvalidOperationException("Speed ratio must be greater than zero for dense J519 execution.");
|
|
||||||
}
|
|
||||||
|
|
||||||
EnsureJ519ReadyForDenseExecution();
|
EnsureJ519ReadyForDenseExecution();
|
||||||
|
|
||||||
// 真机模式且存在稠密路点：启动后台高精度发送任务。
|
// 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;
|
_isInMotion = true;
|
||||||
_sendCts = new CancellationTokenSource();
|
_sendCts = new CancellationTokenSource();
|
||||||
var ct = _sendCts.Token;
|
denseSendCancellationSource = _sendCts;
|
||||||
_sendTask = Task.Run(() => SendDenseTrajectory(result, finalJointPositions, ct), ct);
|
denseSendCancellationToken = _sendCts.Token;
|
||||||
_logger?.LogInformation("ExecuteTrajectory 已启动后台稠密发送任务");
|
shouldRunDenseTrajectory = true;
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
_logger?.LogInformation("ExecuteTrajectory 开始同步稠密发送任务");
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
if (!IsSimulationMode)
|
if (!IsSimulationMode)
|
||||||
{
|
{
|
||||||
// 真机模式无稠密路点：回退到单点收敛。
|
// 真机模式无稠密路点：回退到单点收敛。
|
||||||
@@ -500,6 +516,100 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <inheritdoc />
|
||||||
|
public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
|
||||||
|
{
|
||||||
|
ArgumentNullException.ThrowIfNull(result);
|
||||||
|
ArgumentNullException.ThrowIfNull(finalPose);
|
||||||
|
CancellationToken denseSendCancellationToken = default;
|
||||||
|
CancellationTokenSource? denseSendCancellationSource = null;
|
||||||
|
var shouldRunDenseTrajectory = false;
|
||||||
|
|
||||||
|
_logger?.LogInformation(
|
||||||
|
"ExecuteCartesianTrajectory 开始: program={ProgramName}, 时长={Duration}s, 稠密采样={HasDense}, speedRatio={SpeedRatio}",
|
||||||
|
result.ProgramName, result.Duration.TotalSeconds, result.DenseCartesianTrajectory is not null, _speedRatio);
|
||||||
|
|
||||||
|
lock (_stateLock)
|
||||||
|
{
|
||||||
|
EnsureEnabled();
|
||||||
|
EnsureValidTrajectory(result);
|
||||||
|
EnsurePoseCount(finalPose.Count);
|
||||||
|
CancelSendTaskLocked();
|
||||||
|
|
||||||
|
if (!IsSimulationMode && result.DenseCartesianTrajectory is not null)
|
||||||
|
{
|
||||||
|
EnsureJ519ReadyForDenseExecution();
|
||||||
|
|
||||||
|
// 真机直角模式同样预装完整队列，由机器人状态包节拍驱动出队。
|
||||||
|
_isInMotion = true;
|
||||||
|
_sendCts = new CancellationTokenSource();
|
||||||
|
denseSendCancellationSource = _sendCts;
|
||||||
|
denseSendCancellationToken = _sendCts.Token;
|
||||||
|
shouldRunDenseTrajectory = true;
|
||||||
|
|
||||||
|
_logger?.LogInformation("ExecuteCartesianTrajectory 开始同步直角稠密发送任务");
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (!IsSimulationMode)
|
||||||
|
{
|
||||||
|
var command = new FanucJ519Command(
|
||||||
|
sequence: 0,
|
||||||
|
targetValues: BuildCartesianTargetValues(finalPose),
|
||||||
|
dataStyle: 0);
|
||||||
|
_j519Client.UpdateCommand(command);
|
||||||
|
}
|
||||||
|
|
||||||
|
_isInMotion = true;
|
||||||
|
_pose = MergeFinalCartesianPose(finalPose);
|
||||||
|
_isInMotion = false;
|
||||||
|
_logger?.LogInformation("ExecuteCartesianTrajectory 完成(单点模式)");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (shouldRunDenseTrajectory)
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
SendDenseCartesianTrajectory(result, finalPose, denseSendCancellationToken);
|
||||||
|
_logger?.LogInformation("ExecuteCartesianTrajectory 完成(稠密模式)");
|
||||||
|
}
|
||||||
|
finally
|
||||||
|
{
|
||||||
|
lock (_stateLock)
|
||||||
|
{
|
||||||
|
if (ReferenceEquals(_sendCts, denseSendCancellationSource))
|
||||||
|
{
|
||||||
|
denseSendCancellationSource?.Dispose();
|
||||||
|
_sendCts = null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 释放运行时持有的所有 Socket 客户端。
|
/// 释放运行时持有的所有 Socket 客户端。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -519,42 +629,79 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 后台高精度发送任务：按 J519 周期发送命令，并按 speed_ratio 推进原始轨迹时间。
|
/// 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驱动队列执行完成。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
private void SendDenseTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions, CancellationToken cancellationToken)
|
private void SendDenseTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions, CancellationToken cancellationToken)
|
||||||
{
|
{
|
||||||
var denseTrajectory = result.DenseJointTrajectory!;
|
|
||||||
var triggers = result.TriggerTimeline;
|
var triggers = result.TriggerTimeline;
|
||||||
var servoPeriodSeconds = _robot!.ServoPeriod.TotalSeconds;
|
var servoPeriodSeconds = _robot!.ServoPeriod.TotalSeconds;
|
||||||
var speedRatio = _speedRatio;
|
var preparedExecution = result.PreparedFlyshotExecution;
|
||||||
var trajectoryStepSeconds = servoPeriodSeconds * speedRatio;
|
var durationSeconds = preparedExecution?.FinalDurationSeconds ?? result.Duration.TotalSeconds;
|
||||||
var triggerToleranceSeconds = trajectoryStepSeconds / 2.0;
|
var samples = preparedExecution is null
|
||||||
var durationSeconds = result.Duration.TotalSeconds;
|
? J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
||||||
var sampleCount = CalculateDenseSendSampleCount(durationSeconds, trajectoryStepSeconds);
|
result.DenseJointTrajectory!,
|
||||||
var periodTicks = (long)(servoPeriodSeconds * Stopwatch.Frequency);
|
durationSeconds,
|
||||||
|
servoPeriodSeconds,
|
||||||
|
speedRatio: 1.0)
|
||||||
|
: preparedExecution.Samples.Select(static sample => new J519SendSample(
|
||||||
|
sample.SampleIndex,
|
||||||
|
sample.SendTime,
|
||||||
|
sample.TrajectoryTime,
|
||||||
|
sample.SpeedRatio,
|
||||||
|
sample.JointsDegrees)).ToArray();
|
||||||
|
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||||
|
_robot!,
|
||||||
|
samples,
|
||||||
|
trajectoryName: result.ProgramName);
|
||||||
|
var sampleCount = samples.Count;
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_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}",
|
"SendDenseTrajectory 开始: program={ProgramName}, 采样数={SampleCount}, 时长={Duration}s, runtimeSpeedRatio={SpeedRatio}, 周期={Period}ms, 触发事件数={TriggerCount}",
|
||||||
result.ProgramName, sampleCount, durationSeconds, speedRatio, servoPeriodSeconds * 1000, triggers.Count);
|
result.ProgramName, sampleCount, durationSeconds, _speedRatio, servoPeriodSeconds * 1000, triggers.Count);
|
||||||
|
|
||||||
|
var triggerBindings = preparedExecution is null
|
||||||
|
? TriggerSampleBinder.Bind(
|
||||||
|
triggers,
|
||||||
|
samples,
|
||||||
|
result.TriggerSampleIndexOffsetCycles)
|
||||||
|
: preparedExecution.TriggerBindings.Select(static binding =>
|
||||||
|
new TriggerSampleBinding(
|
||||||
|
binding.Trigger,
|
||||||
|
new J519SendSample(
|
||||||
|
binding.Sample.SampleIndex,
|
||||||
|
binding.Sample.SendTime,
|
||||||
|
binding.Sample.TrajectoryTime,
|
||||||
|
binding.Sample.SpeedRatio,
|
||||||
|
binding.Sample.JointsDegrees),
|
||||||
|
binding.SampleIndex,
|
||||||
|
binding.FoundInWindow)).ToArray();
|
||||||
|
|
||||||
var stopwatch = Stopwatch.StartNew();
|
var stopwatch = Stopwatch.StartNew();
|
||||||
long nextTick = stopwatch.ElapsedTicks;
|
|
||||||
ushort ioValue = 0;
|
ushort ioValue = 0;
|
||||||
ushort ioMask = 0;
|
ushort ioMask = 0;
|
||||||
int holdRemaining = -1;
|
int holdRemaining = -1;
|
||||||
int segmentIndex = 0;
|
|
||||||
long logInterval = Math.Max(1, sampleCount / 10);
|
long logInterval = Math.Max(1, sampleCount / 10);
|
||||||
int triggerFiredCount = 0;
|
int triggerFiredCount = 0;
|
||||||
|
var nextBindingIndex = 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;
|
||||||
|
var preparedJerkRows = preparedExecution?.JerkRows;
|
||||||
|
var diagnosticRequestedSpeedRatio = _speedRatio > 0.0 && !double.IsNaN(_speedRatio) && !double.IsInfinity(_speedRatio)
|
||||||
|
? _speedRatio
|
||||||
|
: 1.0;
|
||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
for (long sampleIndex = 0; sampleIndex < sampleCount; sampleIndex++)
|
foreach (var sample in samples)
|
||||||
{
|
{
|
||||||
cancellationToken.ThrowIfCancellationRequested();
|
cancellationToken.ThrowIfCancellationRequested();
|
||||||
nextTick += periodTicks;
|
|
||||||
|
|
||||||
var trajectoryTime = Math.Min(sampleIndex * trajectoryStepSeconds, durationSeconds);
|
|
||||||
var joints = SampleDenseJointTrajectoryDegrees(denseTrajectory, trajectoryTime, ref segmentIndex);
|
|
||||||
|
|
||||||
// 递减 IO 保持计数器；若已到期则清零。
|
// 递减 IO 保持计数器；若已到期则清零。
|
||||||
var clearMaskAfterSend = false;
|
var clearMaskAfterSend = false;
|
||||||
@@ -572,61 +719,106 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
// 检查当前周期是否有新的触发事件。
|
// 检查当前周期是否有新的触发事件。
|
||||||
if (holdRemaining < 0 && !clearMaskAfterSend)
|
if (holdRemaining < 0 && !clearMaskAfterSend)
|
||||||
{
|
{
|
||||||
foreach (var trigger in triggers)
|
while (nextBindingIndex < triggerBindings.Count
|
||||||
|
&& triggerBindings[nextBindingIndex].SampleIndex < sample.SampleIndex)
|
||||||
{
|
{
|
||||||
if (Math.Abs(trajectoryTime - trigger.TriggerTime) <= triggerToleranceSeconds)
|
nextBindingIndex++;
|
||||||
{
|
|
||||||
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}",
|
|
||||||
trajectoryTime, string.Join(",", trigger.AddressGroup.Addresses), trigger.HoldCycles);
|
|
||||||
break;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (nextBindingIndex < triggerBindings.Count
|
||||||
|
&& triggerBindings[nextBindingIndex].SampleIndex == sample.SampleIndex)
|
||||||
|
{
|
||||||
|
var binding = triggerBindings[nextBindingIndex];
|
||||||
|
ioMask = ComputeIoValue(binding.Trigger.AddressGroup);
|
||||||
|
ioValue = ioMask;
|
||||||
|
holdRemaining = Math.Max(binding.Trigger.HoldCycles - 1, 0);
|
||||||
|
triggerFiredCount++;
|
||||||
|
nextBindingIndex++;
|
||||||
|
_logger?.LogInformation(
|
||||||
|
"J519 IO触发: waypointIndex={WaypointIndex}, theoryTime={TheoryTime:F4}s, sampleIndex={SampleIndex}, sampleSendTime={SampleSendTime:F4}s, sampleTrajectoryTime={SampleTrajectoryTime:F4}s, addr=[{Addr}], holdCycles={HoldCycles}",
|
||||||
|
binding.Trigger.WaypointIndex,
|
||||||
|
binding.Trigger.TriggerTime,
|
||||||
|
binding.SampleIndex,
|
||||||
|
binding.Sample.SendTime,
|
||||||
|
binding.Sample.TrajectoryTime,
|
||||||
|
string.Join(",", binding.Trigger.AddressGroup.Addresses),
|
||||||
|
binding.Trigger.HoldCycles);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
var command = new FanucJ519Command(
|
var command = new FanucJ519Command(
|
||||||
sequence: 0,
|
sequence: 0,
|
||||||
targetJoints: joints,
|
targetJoints: sample.JointsDegrees,
|
||||||
writeIoType: 2,
|
writeIoType: 2,
|
||||||
writeIoIndex: 1,
|
writeIoIndex: 1,
|
||||||
writeIoMask: ioMask,
|
writeIoMask: ioMask,
|
||||||
writeIoValue: ioValue);
|
writeIoValue: ioValue);
|
||||||
|
|
||||||
_j519Client.UpdateCommand(command);
|
commands.Add(command);
|
||||||
|
sentJointRows.Add(BuildDenseSendJointRow(sample.SendTime, sample.JointsDegrees, ioMask, ioValue));
|
||||||
|
sentTimingRows.Add(preparedExecution is null
|
||||||
|
? J519SendTrajectorySampler.BuildTimingRow(sample, diagnosticRequestedSpeedRatio, stretchIterationCount: 0)
|
||||||
|
: J519SendTrajectorySampler.BuildTimingRow(
|
||||||
|
sample,
|
||||||
|
preparedExecution.RequestSpeedRatio,
|
||||||
|
preparedExecution.StretchIterationCount));
|
||||||
|
|
||||||
|
if (preparedJerkRows is not null)
|
||||||
|
{
|
||||||
|
if (sample.SampleIndex > 0 && sample.SampleIndex - 1 < preparedJerkRows.Count)
|
||||||
|
{
|
||||||
|
sentJerkRows.Add(preparedJerkRows[(int)sample.SampleIndex - 1]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (previousSendTime is not null && previousJoints is not null)
|
||||||
|
{
|
||||||
|
var jerkRow = J519SendTrajectorySampler.BuildJerkRow(
|
||||||
|
previousSendTime.Value,
|
||||||
|
sample.SendTime,
|
||||||
|
previousJoints,
|
||||||
|
sample.JointsDegrees,
|
||||||
|
ref previousVelocity,
|
||||||
|
ref previousAcceleration);
|
||||||
|
sentJerkRows.Add(jerkRow);
|
||||||
|
}
|
||||||
|
|
||||||
if (clearMaskAfterSend)
|
if (clearMaskAfterSend)
|
||||||
{
|
{
|
||||||
ioMask = 0;
|
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）。
|
// 周期性记录进度（Debug 级别，避免高频 Info 日志）。
|
||||||
if (sampleIndex > 0 && sampleIndex % logInterval == 0)
|
if (sample.SampleIndex > 0 && sample.SampleIndex % logInterval == 0)
|
||||||
{
|
{
|
||||||
_logger?.LogDebug(
|
_logger?.LogDebug(
|
||||||
"SendDenseTrajectory 进度: {Percent}% ({Current}/{Total}), time={Time:F4}s",
|
"SendDenseTrajectory 进度: {Percent}% ({Current}/{Total}), sendTime={SendTime:F4}s, trajectoryTime={TrajectoryTime:F4}s",
|
||||||
(int)((double)sampleIndex / sampleCount * 100), sampleIndex, sampleCount, trajectoryTime);
|
(int)((double)sample.SampleIndex / sampleCount * 100),
|
||||||
|
sample.SampleIndex,
|
||||||
|
sampleCount,
|
||||||
|
sample.SendTime,
|
||||||
|
sample.TrajectoryTime);
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
TryWriteDenseSendArtifacts(result, outputDir, sentJointRows, sentTimingRows, sentJerkRows, triggerBindings);
|
||||||
|
|
||||||
// 高精度忙等待直到下一伺服周期。
|
// 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。
|
||||||
while (stopwatch.ElapsedTicks < nextTick)
|
_j519Client.LoadCommandQueue(commands);
|
||||||
|
if (_j519Client.IsConnected)
|
||||||
{
|
{
|
||||||
Thread.SpinWait(1);
|
_j519Client.WaitForCommandQueueDrainedAsync(cancellationToken).GetAwaiter().GetResult();
|
||||||
}
|
}
|
||||||
}
|
|
||||||
|
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"SendDenseTrajectory 正常完成: 采样数={SampleCount}, 触发次数={TriggerFiredCount}, 实际耗时={ElapsedMs}ms",
|
"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);
|
sampleCount, triggerFiredCount, stopwatch.ElapsedMilliseconds);
|
||||||
}
|
}
|
||||||
catch (OperationCanceledException)
|
catch (OperationCanceledException)
|
||||||
{
|
{
|
||||||
_logger?.LogWarning(
|
_logger?.LogWarning(
|
||||||
"SendDenseTrajectory 被取消: 已完成 {Percent}% ({Current}/{Total}), 触发次数={TriggerFiredCount}",
|
"SendDenseTrajectory 被取消: 已生成 {Current}/{Total} 条命令, 触发次数={TriggerFiredCount}",
|
||||||
(int)((double)(sampleCount > 0 ? 0 : 0) / sampleCount * 100), 0, sampleCount, triggerFiredCount);
|
commands.Count, sampleCount, triggerFiredCount);
|
||||||
// 正常取消，轨迹被中断。
|
// 正常取消，轨迹被中断。
|
||||||
}
|
}
|
||||||
finally
|
finally
|
||||||
@@ -640,68 +832,68 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 按原始轨迹时长和 speed_ratio 后的轨迹时间步长计算 J519 实发包数。
|
/// 直角稠密轨迹发送任务：预生成 Data format=0 的 J519 命令队列，并等待状态包驱动执行完成。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
private static long CalculateDenseSendSampleCount(double durationSeconds, double trajectoryStepSeconds)
|
private void SendDenseCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose, CancellationToken cancellationToken)
|
||||||
{
|
{
|
||||||
if (durationSeconds < 0.0)
|
var rows = result.DenseCartesianTrajectory ?? throw new InvalidOperationException("Cartesian trajectory requires dense Cartesian samples.");
|
||||||
|
var commands = new List<FanucJ519Command>(rows.Count);
|
||||||
|
var sentPoseRows = new List<IReadOnlyList<double>>(rows.Count);
|
||||||
|
var outputDir = CreateDenseSendOutputDirectory(result.ProgramName);
|
||||||
|
var stopwatch = Stopwatch.StartNew();
|
||||||
|
|
||||||
|
try
|
||||||
{
|
{
|
||||||
throw new ArgumentOutOfRangeException(nameof(durationSeconds), "Trajectory duration must be non-negative.");
|
foreach (var row in rows)
|
||||||
|
{
|
||||||
|
cancellationToken.ThrowIfCancellationRequested();
|
||||||
|
if (row.Count != 7)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("Cartesian dense trajectory rows must contain time plus six pose values.");
|
||||||
}
|
}
|
||||||
|
|
||||||
if (trajectoryStepSeconds <= 0.0 || double.IsNaN(trajectoryStepSeconds) || double.IsInfinity(trajectoryStepSeconds))
|
var pose = row.Skip(1).Take(6).ToArray();
|
||||||
{
|
var command = new FanucJ519Command(
|
||||||
throw new InvalidOperationException("Speed ratio must be greater than zero for dense J519 execution.");
|
sequence: 0,
|
||||||
|
targetValues: BuildCartesianTargetValues(pose),
|
||||||
|
dataStyle: 0,
|
||||||
|
writeIoType: 2,
|
||||||
|
writeIoIndex: 1,
|
||||||
|
writeIoMask: 0,
|
||||||
|
writeIoValue: 0);
|
||||||
|
|
||||||
|
commands.Add(command);
|
||||||
|
sentPoseRows.Add(BuildDenseSendPoseRow(row[0], pose));
|
||||||
}
|
}
|
||||||
|
|
||||||
return (long)Math.Floor((durationSeconds / trajectoryStepSeconds) + 1e-9) + 1;
|
TryWriteDenseCartesianSendArtifacts(outputDir, sentPoseRows);
|
||||||
|
|
||||||
|
_j519Client.LoadCommandQueue(commands);
|
||||||
|
if (_j519Client.IsConnected)
|
||||||
|
{
|
||||||
|
_j519Client.WaitForCommandQueueDrainedAsync(cancellationToken).GetAwaiter().GetResult();
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
_logger?.LogInformation(
|
||||||
/// 在稠密关节轨迹上按时间线性插值，并转换成 J519 要求的角度制关节目标。
|
"SendDenseCartesianTrajectory 正常完成: 采样数={SampleCount}, 队列装载耗时={ElapsedMs}ms",
|
||||||
/// </summary>
|
commands.Count,
|
||||||
private static double[] SampleDenseJointTrajectoryDegrees(
|
stopwatch.ElapsedMilliseconds);
|
||||||
IReadOnlyList<IReadOnlyList<double>> denseTrajectory,
|
|
||||||
double trajectoryTime,
|
|
||||||
ref int segmentIndex)
|
|
||||||
{
|
|
||||||
if (denseTrajectory.Count == 0)
|
|
||||||
{
|
|
||||||
throw new InvalidOperationException("Dense joint trajectory is empty.");
|
|
||||||
}
|
}
|
||||||
|
catch (OperationCanceledException)
|
||||||
if (denseTrajectory.Count == 1 || trajectoryTime <= denseTrajectory[0][0])
|
|
||||||
{
|
{
|
||||||
return denseTrajectory[0].Skip(1).Select(RadiansToDegrees).ToArray();
|
_logger?.LogWarning(
|
||||||
|
"SendDenseCartesianTrajectory 被取消: 已生成 {Current}/{Total} 条命令",
|
||||||
|
commands.Count,
|
||||||
|
rows.Count);
|
||||||
}
|
}
|
||||||
|
finally
|
||||||
var lastIndex = denseTrajectory.Count - 1;
|
|
||||||
if (trajectoryTime >= denseTrajectory[lastIndex][0])
|
|
||||||
{
|
{
|
||||||
return denseTrajectory[lastIndex].Skip(1).Select(RadiansToDegrees).ToArray();
|
lock (_stateLock)
|
||||||
}
|
|
||||||
|
|
||||||
while (segmentIndex < lastIndex - 1 && denseTrajectory[segmentIndex + 1][0] < trajectoryTime)
|
|
||||||
{
|
{
|
||||||
segmentIndex++;
|
_isInMotion = false;
|
||||||
|
_pose = MergeFinalCartesianPose(finalPose);
|
||||||
}
|
}
|
||||||
|
|
||||||
var start = denseTrajectory[segmentIndex];
|
|
||||||
var end = denseTrajectory[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 jointCount = start.Count - 1;
|
|
||||||
var joints = new double[jointCount];
|
|
||||||
for (var index = 0; index < jointCount; index++)
|
|
||||||
{
|
|
||||||
var radians = start[index + 1] + ((end[index + 1] - start[index + 1]) * alpha);
|
|
||||||
joints[index] = RadiansToDegrees(radians);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
return joints;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -709,68 +901,253 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
private void EnsureJ519ReadyForDenseExecution()
|
private void EnsureJ519ReadyForDenseExecution()
|
||||||
{
|
{
|
||||||
var response = _j519Client.GetLatestResponse();
|
EnsureJ519ReadyForDenseExecutionCore(
|
||||||
if (response is null)
|
() => _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 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;
|
||||||
|
}
|
||||||
|
_logger?.LogInformation("当前机器人不满足执行条件,重新启用机器人");
|
||||||
|
try
|
||||||
|
{
|
||||||
|
retryEnableRobot();
|
||||||
|
waitAfterRetry();
|
||||||
|
}
|
||||||
|
catch (InvalidOperationException exception)
|
||||||
|
{
|
||||||
|
// 重试链路自身失败时，优先保留 J519 状态位诊断，底层连接异常作为 inner exception 继续上抛。
|
||||||
|
throw new InvalidOperationException(BuildJ519DenseExecutionNotReadyMessage(response), exception);
|
||||||
|
}
|
||||||
|
|
||||||
|
response = getLatestResponse();
|
||||||
|
if (response is null || IsJ519ReadyForDenseExecution(response))
|
||||||
{
|
{
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (response.AcceptsCommand && response.SystemReady)
|
throw new InvalidOperationException(BuildJ519DenseExecutionNotReadyMessage(response));
|
||||||
{
|
|
||||||
return;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
throw new InvalidOperationException(
|
/// <summary>
|
||||||
"J519 status is not ready for dense execution: "
|
/// 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}, "
|
+ $"accept_cmd={response.AcceptsCommand}, "
|
||||||
+ $"received_cmd={response.ReceivedCommand}, "
|
+ $"received_cmd={response.ReceivedCommand}, "
|
||||||
+ $"sysrdy={response.SystemReady}, "
|
+ $"sysrdy={response.SystemReady}, "
|
||||||
+ $"rbt_inmotion={response.RobotInMotion}, "
|
+ $"rbt_inmotion={response.RobotInMotion}, "
|
||||||
+ $"seq={response.Sequence}, "
|
+ $"seq={response.Sequence}, "
|
||||||
+ $"status=0x{response.Status:X2}.");
|
+ $"status=0x{response.Status:X2}.";
|
||||||
}
|
|
||||||
|
|
||||||
private static double RadiansToDegrees(double radians)
|
|
||||||
{
|
|
||||||
return radians * 180.0 / Math.PI;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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。
|
/// 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>
|
||||||
|
/// 构造实际发送直角位姿文本行，格式为 send_time + X/Y/Z/W/P/R。
|
||||||
|
/// </summary>
|
||||||
|
private static IReadOnlyList<double> BuildDenseSendPoseRow(double sendTime, IReadOnlyList<double> pose)
|
||||||
|
{
|
||||||
|
var row = new double[pose.Count + 1];
|
||||||
|
row[0] = Math.Round(sendTime, 6);
|
||||||
|
for (var index = 0; index < pose.Count; index++)
|
||||||
|
{
|
||||||
|
row[index + 1] = Math.Round(pose[index], 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
return row;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 构造 J519 直角命令的 9 个目标槽位，当前现场无扩展轴时 E1/E2/E3 补零。
|
||||||
|
/// </summary>
|
||||||
|
private static double[] BuildCartesianTargetValues(IReadOnlyList<double> pose)
|
||||||
|
{
|
||||||
|
EnsurePoseCount(pose.Count);
|
||||||
|
return [pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], 0.0, 0.0, 0.0];
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 将六维 WPR 直角目标合并回运行时缓存，保留旧 GetPose 仿真路径的 7 维外形。
|
||||||
|
/// </summary>
|
||||||
|
private double[] MergeFinalCartesianPose(IReadOnlyList<double> pose)
|
||||||
|
{
|
||||||
|
EnsurePoseCount(pose.Count);
|
||||||
|
return _pose.Length >= 7
|
||||||
|
? [pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], _pose[6]]
|
||||||
|
: pose.ToArray();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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(
|
||||||
|
TrajectoryResult result,
|
||||||
|
string outputDir,
|
||||||
|
IReadOnlyList<IReadOnlyList<double>> sentJointRows,
|
||||||
|
IReadOnlyList<IReadOnlyList<double>> sentTimingRows,
|
||||||
|
IReadOnlyList<IReadOnlyList<double>> sentJerkRows,
|
||||||
|
IReadOnlyList<TriggerSampleBinding> triggerBindings)
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), sentJointRows);
|
||||||
|
WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), sentTimingRows);
|
||||||
|
WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), sentJerkRows);
|
||||||
|
TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), result.ShotEvents, triggerBindings);
|
||||||
|
_logger?.LogInformation(
|
||||||
|
"SendDenseTrajectory 已写出实际发送记录: outputDir={OutputDir}, pointRows={PointRows}, timingRows={TimingRows}, jerkRows={JerkRows}, triggerBindings={TriggerBindings}",
|
||||||
|
outputDir,
|
||||||
|
sentJointRows.Count,
|
||||||
|
sentTimingRows.Count,
|
||||||
|
sentJerkRows.Count,
|
||||||
|
triggerBindings.Count);
|
||||||
|
}
|
||||||
|
catch (Exception exception)
|
||||||
|
{
|
||||||
|
_logger?.LogWarning(exception, "SendDenseTrajectory 写出实际发送记录失败: outputDir={OutputDir}", outputDir);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 尝试把直角实际发送点位写入文本文件；若落盘失败，只记录日志，不影响运动主流程。
|
||||||
|
/// </summary>
|
||||||
|
private void TryWriteDenseCartesianSendArtifacts(string outputDir, IReadOnlyList<IReadOnlyList<double>> sentPoseRows)
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
WriteDenseRows(Path.Combine(outputDir, "ActualSendPoseTraj.txt"), sentPoseRows);
|
||||||
|
_logger?.LogInformation(
|
||||||
|
"SendDenseCartesianTrajectory 已写出实际发送记录: outputDir={OutputDir}, poseRows={PoseRows}",
|
||||||
|
outputDir,
|
||||||
|
sentPoseRows.Count);
|
||||||
|
}
|
||||||
|
catch (Exception exception)
|
||||||
|
{
|
||||||
|
_logger?.LogWarning(exception, "SendDenseCartesianTrajectory 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>
|
/// </summary>
|
||||||
private void CancelSendTaskLocked()
|
private void CancelSendTaskLocked()
|
||||||
{
|
{
|
||||||
_sendCts?.Cancel();
|
_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?.Dispose();
|
||||||
_sendCts = null;
|
_sendCts = null;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 把 IO 地址组中的地址号映射为 writeIoValue 的位掩码。
|
/// 把 IO 地址组中的地址号映射为 writeIoValue 的位掩码。
|
||||||
|
/// 手册约定 writeIoIndex=1 时，LSB 对应第 1 个 IO 点，因此地址 N 对应 bit(N-1)。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
internal static ushort ComputeIoValue(IoAddressGroup group)
|
internal static ushort ComputeIoValue(IoAddressGroup group)
|
||||||
{
|
{
|
||||||
ushort value = 0;
|
ushort value = 0;
|
||||||
foreach (var addr in group.Addresses)
|
foreach (var addr in group.Addresses)
|
||||||
{
|
{
|
||||||
if (addr is >= 0 and < 16)
|
if (addr is >= 1 and <= 16)
|
||||||
{
|
{
|
||||||
value |= (ushort)(1 << addr);
|
value |= (ushort)(1 << (addr - 1));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -903,6 +1280,17 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 校验直角位姿固定为 [x,y,z,w,p,r] 六维。
|
||||||
|
/// </summary>
|
||||||
|
private static void EnsurePoseCount(int poseCount)
|
||||||
|
{
|
||||||
|
if (poseCount != 6)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException($"Expected 6 Cartesian pose values but received {poseCount}.");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 校验机器人已经完成初始化。
|
/// 校验机器人已经完成初始化。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
|||||||
@@ -18,6 +18,7 @@
|
|||||||
|
|
||||||
<ItemGroup>
|
<ItemGroup>
|
||||||
<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
|
<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" />
|
<ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />
|
||||||
</ItemGroup>
|
</ItemGroup>
|
||||||
|
|
||||||
|
|||||||
@@ -548,9 +548,9 @@ public static class FanucCommandProtocol
|
|||||||
throw new InvalidDataException("FANUC 程序状态响应体长度不足。");
|
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。
|
// all-reconnect.pcap 中字段顺序为 prog_status 后接 result_code。
|
||||||
var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
|
var programStatus = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
|
||||||
var programStatus = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
|
var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
|
||||||
return new FanucProgramStatusResponse(messageId, resultCode, programStatus);
|
return new FanucProgramStatusResponse(messageId, resultCode, programStatus);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -1,3 +1,4 @@
|
|||||||
|
using System.Diagnostics;
|
||||||
using System.Net.Sockets;
|
using System.Net.Sockets;
|
||||||
using Microsoft.Extensions.Logging;
|
using Microsoft.Extensions.Logging;
|
||||||
|
|
||||||
@@ -13,10 +14,19 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
private readonly ILogger<FanucJ519Client>? _logger;
|
private readonly ILogger<FanucJ519Client>? _logger;
|
||||||
private UdpClient? _udpClient;
|
private UdpClient? _udpClient;
|
||||||
private CancellationTokenSource? _cts;
|
private CancellationTokenSource? _cts;
|
||||||
private Task? _receiveTask;
|
private Thread? _receiveThread;
|
||||||
private FanucJ519Command? _currentCommand;
|
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 List<FanucJ519Command>? _commandHistoryForTests;
|
||||||
private FanucJ519Response? _latestResponse;
|
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 _motionStarted;
|
||||||
private bool _disposed;
|
private bool _disposed;
|
||||||
|
|
||||||
@@ -28,7 +38,7 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
/// <summary>
|
/// <summary>
|
||||||
/// 初始化 FANUC J519 客户端。
|
/// 初始化 FANUC J519 客户端。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="logger">日志记录器；允许 null。</param>
|
/// <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)
|
public FanucJ519Client(ILogger<FanucJ519Client>? logger = null)
|
||||||
{
|
{
|
||||||
_logger = logger;
|
_logger = logger;
|
||||||
@@ -58,13 +68,21 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
|
|
||||||
_udpClient = new UdpClient();
|
_udpClient = new UdpClient();
|
||||||
_udpClient.Connect(ip, port);
|
_udpClient.Connect(ip, port);
|
||||||
|
ConfigureRealtimeSocket(_udpClient.Client);
|
||||||
|
ConfigureProcessPriority();
|
||||||
|
|
||||||
// 发送初始化包。
|
// 发送初始化包。
|
||||||
await _udpClient.SendAsync(FanucJ519Protocol.PackInitPacket(), cancellationToken).ConfigureAwait(false);
|
await _udpClient.SendAsync(FanucJ519Protocol.PackInitPacket(), cancellationToken).ConfigureAwait(false);
|
||||||
_logger?.LogInformation("J519 初始化包已发送");
|
_logger?.LogInformation("J519 初始化包已发送");
|
||||||
|
|
||||||
_cts = new CancellationTokenSource();
|
_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>
|
/// <summary>
|
||||||
@@ -81,18 +99,46 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
|
|
||||||
lock (_commandLock)
|
lock (_commandLock)
|
||||||
{
|
{
|
||||||
|
_lastSentCommand = null;
|
||||||
if (_motionStarted)
|
if (_motionStarted)
|
||||||
{
|
{
|
||||||
_logger?.LogDebug("J519 StartMotion: 状态包驱动发送已启用");
|
_logger?.LogDebug("J519 StartMotion: 状态包驱动发送已启用");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (!_hasPendingCommandForStart)
|
||||||
|
{
|
||||||
|
_currentCommand = null;
|
||||||
|
CompleteCommandQueueLocked();
|
||||||
|
}
|
||||||
|
|
||||||
|
_hasPendingCommandForStart = false;
|
||||||
_motionStarted = true;
|
_motionStarted = true;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogInformation("J519 StartMotion: 已启用状态包驱动发送");
|
_logger?.LogInformation("J519 StartMotion: 已启用状态包驱动发送");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 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>
|
/// <summary>
|
||||||
/// 发送状态输出停止包并停止 J519 命令发送。
|
/// 发送状态输出停止包并停止 J519 命令发送。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -109,6 +155,8 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
lock (_commandLock)
|
lock (_commandLock)
|
||||||
{
|
{
|
||||||
_motionStarted = false;
|
_motionStarted = false;
|
||||||
|
_hasPendingCommandForStart = false;
|
||||||
|
CompleteCommandQueueLocked();
|
||||||
}
|
}
|
||||||
|
|
||||||
// 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。
|
// 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。
|
||||||
@@ -127,15 +175,78 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
|
|
||||||
lock (_commandLock)
|
lock (_commandLock)
|
||||||
{
|
{
|
||||||
|
CompleteCommandQueueLocked();
|
||||||
_currentCommand = command;
|
_currentCommand = command;
|
||||||
|
_hasPendingCommandForStart = true;
|
||||||
_commandHistoryForTests?.Add(command);
|
_commandHistoryForTests?.Add(command);
|
||||||
}
|
}
|
||||||
|
|
||||||
_logger?.LogDebug(
|
if (_logger?.IsEnabled(LogLevel.Debug) == true)
|
||||||
"J519 UpdateCommand: joints=[{Joints}], ioMask=0x{IoMask:X4}, ioValue=0x{IoValue:X4}",
|
{
|
||||||
string.Join(", ", command.TargetJoints.Select(j => j.ToString("F2"))),
|
//_logger.LogDebug(
|
||||||
command.WriteIoMask,
|
// "J519 UpdateCommand: joints={Joints}, ioMask={IoMask}, ioValue={IoValue}",
|
||||||
command.WriteIoValue);
|
// 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>
|
/// <summary>
|
||||||
@@ -204,26 +315,28 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
_receiveTask?.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。
|
||||||
}
|
}
|
||||||
|
|
||||||
_receiveTask?.Dispose();
|
_receiveThread = null;
|
||||||
_receiveTask = null;
|
|
||||||
|
|
||||||
_cts?.Dispose();
|
_cts?.Dispose();
|
||||||
_cts = null;
|
_cts = null;
|
||||||
|
|
||||||
_udpClient?.Dispose();
|
|
||||||
_udpClient = null;
|
_udpClient = null;
|
||||||
|
|
||||||
lock (_commandLock)
|
lock (_commandLock)
|
||||||
{
|
{
|
||||||
_currentCommand = null;
|
_currentCommand = null;
|
||||||
|
_lastSentCommand = null;
|
||||||
|
CompleteCommandQueueLocked();
|
||||||
_commandHistoryForTests = null;
|
_commandHistoryForTests = null;
|
||||||
|
_hasPendingCommandForStart = false;
|
||||||
_motionStarted = false;
|
_motionStarted = false;
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -248,40 +361,67 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
_receiveTask?.Wait(TimeSpan.FromSeconds(1));
|
|
||||||
}
|
|
||||||
catch (AggregateException)
|
|
||||||
{
|
|
||||||
// 忽略取消异常。
|
|
||||||
}
|
|
||||||
|
|
||||||
_receiveTask?.Dispose();
|
|
||||||
_cts?.Dispose();
|
|
||||||
_udpClient?.Dispose();
|
_udpClient?.Dispose();
|
||||||
|
_receiveThread?.Join(TimeSpan.FromSeconds(1));
|
||||||
|
}
|
||||||
|
catch (ObjectDisposedException)
|
||||||
|
{
|
||||||
|
// 忽略释放期间的套接字关闭异常。
|
||||||
}
|
}
|
||||||
|
|
||||||
private static FanucJ519Command WithSequence(FanucJ519Command source, uint sequence)
|
_cts?.Dispose();
|
||||||
|
|
||||||
|
lock (_commandLock)
|
||||||
{
|
{
|
||||||
return new FanucJ519Command(
|
CompleteCommandQueueLocked();
|
||||||
sequence,
|
_hasPendingCommandForStart = false;
|
||||||
source.TargetJoints,
|
}
|
||||||
source.LastData,
|
}
|
||||||
source.ReadIoType,
|
|
||||||
source.ReadIoIndex,
|
private static void ConfigureProcessPriority()
|
||||||
source.ReadIoMask,
|
{
|
||||||
source.DataStyle,
|
try
|
||||||
source.WriteIoType,
|
{
|
||||||
source.WriteIoIndex,
|
var process = Process.GetCurrentProcess();
|
||||||
source.WriteIoMask,
|
if (process.PriorityClass < ProcessPriorityClass.High)
|
||||||
source.WriteIoValue);
|
{
|
||||||
|
process.PriorityClass = ProcessPriorityClass.High;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
catch (Exception)
|
||||||
|
{
|
||||||
|
// 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>
|
/// <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>
|
/// </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;
|
return;
|
||||||
}
|
}
|
||||||
@@ -289,43 +429,74 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
_logger?.LogInformation("J519 ReceiveLoop 启动");
|
_logger?.LogInformation("J519 ReceiveLoop 启动");
|
||||||
long receiveCount = 0;
|
long receiveCount = 0;
|
||||||
FanucJ519Response? lastLoggedResponse = null;
|
FanucJ519Response? lastLoggedResponse = null;
|
||||||
|
var receiveBuffer = new byte[FanucJ519Protocol.ResponsePacketLength];
|
||||||
|
var commandBuffer = new byte[FanucJ519Protocol.CommandPacketLength];
|
||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
while (!cancellationToken.IsCancellationRequested)
|
while (!cancellationToken.IsCancellationRequested)
|
||||||
{
|
{
|
||||||
var result = await _udpClient.ReceiveAsync(cancellationToken).ConfigureAwait(false);
|
var received = udpClient.Client.Receive(receiveBuffer);
|
||||||
if (result.Buffer.Length == FanucJ519Protocol.ResponsePacketLength)
|
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)
|
lock (_responseLock)
|
||||||
{
|
{
|
||||||
_latestResponse = response;
|
_latestResponse = response;
|
||||||
}
|
}
|
||||||
|
|
||||||
receiveCount++;
|
receiveCount++;
|
||||||
await SendCommandForStatusAsync(response, cancellationToken).ConfigureAwait(false);
|
|
||||||
|
|
||||||
// 仅在状态变化时记录 Info，避免高频日志。
|
// 仅在状态变化时记录 Info，避免高频日志。
|
||||||
if (lastLoggedResponse is null
|
if (lastLoggedResponse is null
|
||||||
|| lastLoggedResponse.Status != response.Status
|
|| lastLoggedResponse.Status != response.Status
|
||||||
|| lastLoggedResponse.RobotInMotion != response.RobotInMotion
|
|| lastLoggedResponse.RobotInMotion != response.RobotInMotion
|
||||||
|| lastLoggedResponse.SystemReady != response.SystemReady)
|
|| lastLoggedResponse.SystemReady != response.SystemReady
|
||||||
|
|| lastLoggedResponse.AcceptsCommand != response.AcceptsCommand)
|
||||||
{
|
{
|
||||||
_logger?.LogInformation(
|
_logger?.LogInformation(
|
||||||
"J519 响应: status=0x{Status:X2}, seq={Seq}, accept={Accept}, sysrdy={SysRdy}, motion={Motion}, pose=[{Pose}], joints=[{Joints}]",
|
"J519 响应: status=0x{Status:X2}, seq={Seq}, accept={Accept}, received={received}, SystemReady={SystemReady}, RobotInMotion={RobotInMotion}, pose=[{Pose}], joints=[{Joints}]",
|
||||||
response.Status,
|
response.Status,
|
||||||
response.Sequence,
|
response.Sequence,
|
||||||
response.AcceptsCommand,
|
response.AcceptsCommand,
|
||||||
|
response.ReceivedCommand,
|
||||||
response.SystemReady,
|
response.SystemReady,
|
||||||
response.RobotInMotion,
|
response.RobotInMotion,
|
||||||
string.Join(", ", response.Pose.Select(v => v.ToString("F1"))),
|
string.Join(", ", response.Pose.Select(v => v.ToString("F3"))),
|
||||||
string.Join(", ", response.JointDegrees.Take(6).Select(v => v.ToString("F2"))));
|
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;
|
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)
|
else if (receiveCount % 1000 == 0)
|
||||||
{
|
{
|
||||||
_logger?.LogDebug("J519 已接收 {Count} 个响应包", receiveCount);
|
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));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -338,27 +509,46 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
{
|
{
|
||||||
_logger?.LogInformation("J519 ReceiveLoop 因 UDP 释放退出，共接收 {Count} 个包", receiveCount);
|
_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>
|
/// <summary>
|
||||||
/// 按机器人状态包的 sequence 立即回发当前 J519 命令。
|
/// 按机器人状态包的 sequence 立即回发当前 J519 命令。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="response">刚收到的状态包。</param>
|
/// <param name="socket">已连接的 UDP 套接字。</param>
|
||||||
/// <param name="cancellationToken">取消令牌。</param>
|
/// <param name="response">刚收到的机器人状态包。</param>
|
||||||
private async Task SendCommandForStatusAsync(FanucJ519Response response, CancellationToken cancellationToken)
|
/// <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)
|
||||||
{
|
{
|
||||||
var udpClient = _udpClient;
|
|
||||||
if (udpClient is null)
|
|
||||||
{
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
FanucJ519Command? command;
|
FanucJ519Command? command;
|
||||||
|
var willDrainQueue = false;
|
||||||
lock (_commandLock)
|
lock (_commandLock)
|
||||||
{
|
{
|
||||||
command = !_motionStarted || _currentCommand is null
|
if (!_motionStarted)
|
||||||
? null
|
{
|
||||||
: WithSequence(_currentCommand, response.Sequence);
|
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)
|
if (command is null)
|
||||||
@@ -366,7 +556,99 @@ public sealed class FanucJ519Client : IDisposable
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
var packet = FanucJ519Protocol.PackCommandPacket(command);
|
uint sequenceToSend;
|
||||||
await udpClient.SendAsync(packet, cancellationToken).ConfigureAwait(false);
|
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")));
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -7,7 +7,7 @@ namespace Flyshot.Runtime.Fanuc.Protocol;
|
|||||||
/// </summary>
|
/// </summary>
|
||||||
public sealed class FanucJ519Command
|
public sealed class FanucJ519Command
|
||||||
{
|
{
|
||||||
private readonly double[] _targetJoints;
|
private readonly double[] _targetValues;
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 初始化 J519 命令数据。
|
/// 初始化 J519 命令数据。
|
||||||
@@ -35,11 +35,53 @@ public sealed class FanucJ519Command
|
|||||||
ushort writeIoIndex = 1,
|
ushort writeIoIndex = 1,
|
||||||
ushort writeIoMask = 0,
|
ushort writeIoMask = 0,
|
||||||
ushort writeIoValue = 0)
|
ushort writeIoValue = 0)
|
||||||
|
: this(
|
||||||
|
sequence,
|
||||||
|
targetValues: targetJoints,
|
||||||
|
lastData,
|
||||||
|
readIoType,
|
||||||
|
readIoIndex,
|
||||||
|
readIoMask,
|
||||||
|
dataStyle,
|
||||||
|
writeIoType,
|
||||||
|
writeIoIndex,
|
||||||
|
writeIoMask,
|
||||||
|
writeIoValue)
|
||||||
{
|
{
|
||||||
ArgumentNullException.ThrowIfNull(targetJoints);
|
}
|
||||||
if (targetJoints.Count is <= 0 or > 9)
|
|
||||||
|
/// <summary>
|
||||||
|
/// 初始化 J519 命令数据。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="sequence">命令序号。</param>
|
||||||
|
/// <param name="targetValues">J519 目标槽位，直角模式为 X/Y/Z/W/P/R/E1/E2/E3，关节模式为 J1..J9。</param>
|
||||||
|
/// <param name="lastData">是否为最后一帧数据。</param>
|
||||||
|
/// <param name="readIoType">读取 IO 类型。</param>
|
||||||
|
/// <param name="readIoIndex">读取 IO 起始索引。</param>
|
||||||
|
/// <param name="readIoMask">读取 IO 掩码。</param>
|
||||||
|
/// <param name="dataStyle">目标数据类型，0 为直角坐标，1 为关节坐标。</param>
|
||||||
|
/// <param name="writeIoType">写入 IO 类型。</param>
|
||||||
|
/// <param name="writeIoIndex">写入 IO 起始索引。</param>
|
||||||
|
/// <param name="writeIoMask">写入 IO 掩码。</param>
|
||||||
|
/// <param name="writeIoValue">写入 IO 数值。</param>
|
||||||
|
public FanucJ519Command(
|
||||||
|
uint sequence,
|
||||||
|
IEnumerable<double> targetValues,
|
||||||
|
byte lastData = 0,
|
||||||
|
byte readIoType = 2,
|
||||||
|
ushort readIoIndex = 1,
|
||||||
|
ushort readIoMask = 255,
|
||||||
|
byte dataStyle = 1,
|
||||||
|
byte writeIoType = 2,
|
||||||
|
ushort writeIoIndex = 1,
|
||||||
|
ushort writeIoMask = 0,
|
||||||
|
ushort writeIoValue = 0)
|
||||||
{
|
{
|
||||||
throw new ArgumentOutOfRangeException(nameof(targetJoints), "J519 目标数据必须包含 1 到 9 个槽位。");
|
ArgumentNullException.ThrowIfNull(targetValues);
|
||||||
|
var copiedTargetValues = targetValues.ToArray();
|
||||||
|
if (copiedTargetValues.Length is <= 0 or > 9)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(targetValues), "J519 目标数据必须包含 1 到 9 个槽位。");
|
||||||
}
|
}
|
||||||
|
|
||||||
Sequence = sequence;
|
Sequence = sequence;
|
||||||
@@ -52,7 +94,7 @@ public sealed class FanucJ519Command
|
|||||||
WriteIoIndex = writeIoIndex;
|
WriteIoIndex = writeIoIndex;
|
||||||
WriteIoMask = writeIoMask;
|
WriteIoMask = writeIoMask;
|
||||||
WriteIoValue = writeIoValue;
|
WriteIoValue = writeIoValue;
|
||||||
_targetJoints = targetJoints.ToArray();
|
_targetValues = copiedTargetValues;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -108,7 +150,12 @@ public sealed class FanucJ519Command
|
|||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取目标关节或扩展轴数据。
|
/// 获取目标关节或扩展轴数据。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public IReadOnlyList<double> TargetJoints => _targetJoints;
|
public IReadOnlyList<double> TargetJoints => _targetValues;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取 J519 目标槽位，直角模式为 X/Y/Z/W/P/R/E1/E2/E3，关节模式为 J1..J9。
|
||||||
|
/// </summary>
|
||||||
|
public IReadOnlyList<double> TargetValues => _targetValues;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -301,28 +348,45 @@ public static class FanucJ519Protocol
|
|||||||
ArgumentNullException.ThrowIfNull(command);
|
ArgumentNullException.ThrowIfNull(command);
|
||||||
|
|
||||||
var packet = new byte[CommandPacketLength];
|
var packet = new byte[CommandPacketLength];
|
||||||
BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x00, sizeof(uint)), 1);
|
PackCommandPacket(command, command.Sequence, packet);
|
||||||
BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x04, sizeof(uint)), 1);
|
return packet;
|
||||||
BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x08, sizeof(uint)), command.Sequence);
|
}
|
||||||
|
|
||||||
|
/// <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[0x0c] = command.LastData;
|
||||||
packet[0x0d] = command.ReadIoType;
|
packet[0x0d] = command.ReadIoType;
|
||||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x0e, sizeof(ushort)), command.ReadIoIndex);
|
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x0e, sizeof(ushort)), command.ReadIoIndex);
|
||||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x10, sizeof(ushort)), command.ReadIoMask);
|
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x10, sizeof(ushort)), command.ReadIoMask);
|
||||||
packet[0x12] = command.DataStyle;
|
packet[0x12] = command.DataStyle;
|
||||||
packet[0x13] = command.WriteIoType;
|
packet[0x13] = command.WriteIoType;
|
||||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x14, sizeof(ushort)), command.WriteIoIndex);
|
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x14, sizeof(ushort)), command.WriteIoIndex);
|
||||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x16, sizeof(ushort)), command.WriteIoMask);
|
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x16, sizeof(ushort)), command.WriteIoMask);
|
||||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x18, sizeof(ushort)), command.WriteIoValue);
|
BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x18, sizeof(ushort)), command.WriteIoValue);
|
||||||
BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x1a, sizeof(ushort)), 0);
|
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。
|
// 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++)
|
for (var index = 0; index < 9; index++)
|
||||||
{
|
{
|
||||||
var value = index < command.TargetJoints.Count ? command.TargetJoints[index] : 0.0;
|
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>
|
/// <summary>
|
||||||
|
|||||||
@@ -52,12 +52,12 @@ public sealed class FanucStateClientOptions
|
|||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取或设置重连等待时间的上限。
|
/// 获取或设置重连等待时间的上限。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public TimeSpan ReconnectMaxDelay { get; init; } = TimeSpan.FromSeconds(2);
|
public TimeSpan ReconnectMaxDelay { get; init; } = TimeSpan.FromSeconds(5);
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 获取或设置单次 TCP 建连允许的最长时间。
|
/// 获取或设置单次 TCP 建连允许的最长时间。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public TimeSpan ConnectTimeout { get; init; } = TimeSpan.FromSeconds(2);
|
public TimeSpan ConnectTimeout { get; init; } = TimeSpan.FromSeconds(5);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
|
|||||||
13
src/Flyshot.Server.Host/.config/dotnet-tools.json
Normal file
13
src/Flyshot.Server.Host/.config/dotnet-tools.json
Normal file
@@ -0,0 +1,13 @@
|
|||||||
|
{
|
||||||
|
"version": 1,
|
||||||
|
"isRoot": true,
|
||||||
|
"tools": {
|
||||||
|
"dotnet-ef": {
|
||||||
|
"version": "10.0.7",
|
||||||
|
"commands": [
|
||||||
|
"dotnet-ef"
|
||||||
|
],
|
||||||
|
"rollForward": false
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -154,12 +154,12 @@ public sealed class LegacyHttpApiController : ControllerBase
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 兼容旧 `EnableRobot(buffer_size=2)` 参数形状。
|
/// 兼容旧 `EnableRobot(buffer_size=4)` 参数形状。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
/// <param name="buffer_size">控制器执行缓冲区大小。</param>
|
/// <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>
|
/// <returns>旧 FastAPI 层风格的布尔状态响应。</returns>
|
||||||
[HttpGet("/enable_robot/")]
|
[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);
|
_logger.LogInformation("EnableRobot 调用: buffer_size={BufferSize}", buffer_size);
|
||||||
try
|
try
|
||||||
@@ -431,6 +431,32 @@ public sealed class LegacyHttpApiController : ControllerBase
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 以直角坐标 `[x,y,z,w,p,r]` 执行点到点移动。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="pose_data">直角位姿请求体。</param>
|
||||||
|
/// <returns>旧 FastAPI 层风格的状态响应。</returns>
|
||||||
|
[HttpPost("/move_pose/")]
|
||||||
|
public IActionResult MovePose([FromBody] JsonElement pose_data)
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
var poseRequest = LegacyCartesianPoseRequest.FromJson(pose_data);
|
||||||
|
var pose = poseRequest.ToPoseArray();
|
||||||
|
_logger.LogInformation("MovePose 调用: x={X}, y={Y}, z={Z}, w={W}, p={P}, r={R}",
|
||||||
|
poseRequest.x, poseRequest.y, poseRequest.z, poseRequest.w, poseRequest.p, poseRequest.r);
|
||||||
|
|
||||||
|
_compatService.MovePose(pose);
|
||||||
|
_logger.LogInformation("MovePose 成功");
|
||||||
|
return Ok(new { status = "robot moved" });
|
||||||
|
}
|
||||||
|
catch (Exception exception)
|
||||||
|
{
|
||||||
|
_logger.LogError(exception, "MovePose 失败");
|
||||||
|
return LegacyBadRequest("MovePose failed");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 兼容旧 `GetNearestIK(pose, seed, ik)` 参数形状。
|
/// 兼容旧 `GetNearestIK(pose, seed, ik)` 参数形状。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -709,7 +735,7 @@ public sealed class LegacyHttpApiController : ControllerBase
|
|||||||
data.robot_name, data.robot_ip, data.sim, data.server_ip, data.port);
|
data.robot_name, data.robot_ip, data.sim, data.server_ip, data.port);
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
_compatService.ConnectServer(data.server_ip, data.port);
|
|
||||||
_compatService.SetUpRobot(data.robot_name);
|
_compatService.SetUpRobot(data.robot_name);
|
||||||
if (!_compatService.IsSetUp)
|
if (!_compatService.IsSetUp)
|
||||||
{
|
{
|
||||||
@@ -719,7 +745,7 @@ public sealed class LegacyHttpApiController : ControllerBase
|
|||||||
|
|
||||||
_compatService.SetActiveController(data.sim);
|
_compatService.SetActiveController(data.sim);
|
||||||
_compatService.Connect(data.robot_ip);
|
_compatService.Connect(data.robot_ip);
|
||||||
_compatService.EnableRobot(2);
|
_compatService.EnableRobot(8);
|
||||||
_logger.LogInformation("InitMpcRobot 成功: robot_name={RobotName}", data.robot_name);
|
_logger.LogInformation("InitMpcRobot 成功: robot_name={RobotName}", data.robot_name);
|
||||||
return Ok(new { message = "init_Success", returnCode = 0 });
|
return Ok(new { message = "init_Success", returnCode = 0 });
|
||||||
}
|
}
|
||||||
@@ -874,6 +900,136 @@ public sealed class LegacyJointPositionRequest
|
|||||||
public List<double> joints { get; init; } = [];
|
public List<double> joints { get; init; } = [];
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 表示 `/move_pose/` 路由使用的直角位姿请求体。
|
||||||
|
/// </summary>
|
||||||
|
public sealed class LegacyCartesianPoseRequest
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// MovePose 第一版入口硬限制：TCP X/Y 最大绝对值，单位 mm。
|
||||||
|
/// </summary>
|
||||||
|
private const double MaxHorizontalMillimeters = 1000.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// MovePose 第一版入口硬限制：TCP Z 最小值，单位 mm。
|
||||||
|
/// </summary>
|
||||||
|
private const double MinZMillimeters = 0.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// MovePose 第一版入口硬限制：TCP Z 最大值，单位 mm。
|
||||||
|
/// </summary>
|
||||||
|
private const double MaxZMillimeters = 1200.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// MovePose 第一版入口硬限制：W/R 姿态角最大绝对值，单位 deg。
|
||||||
|
/// </summary>
|
||||||
|
private const double MaxRollYawDegrees = 180.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// MovePose 第一版入口硬限制：P 姿态角最大绝对值，单位 deg。
|
||||||
|
/// </summary>
|
||||||
|
private const double MaxPitchDegrees = 90.0;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取或设置 TCP X，单位为 mm。
|
||||||
|
/// </summary>
|
||||||
|
public double x { get; init; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取或设置 TCP Y，单位为 mm。
|
||||||
|
/// </summary>
|
||||||
|
public double y { get; init; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取或设置 TCP Z，单位为 mm。
|
||||||
|
/// </summary>
|
||||||
|
public double z { get; init; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取或设置姿态 W，单位为 deg。
|
||||||
|
/// </summary>
|
||||||
|
public double w { get; init; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取或设置姿态 P，单位为 deg。
|
||||||
|
/// </summary>
|
||||||
|
public double p { get; init; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 获取或设置姿态 R，单位为 deg。
|
||||||
|
/// </summary>
|
||||||
|
public double r { get; init; }
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 从原始 JSON 请求体解析直角位姿，并显式拒绝缺字段、null 和非有限数。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="json">原始 JSON 请求体。</param>
|
||||||
|
/// <returns>解析后的直角位姿请求。</returns>
|
||||||
|
public static LegacyCartesianPoseRequest FromJson(JsonElement json)
|
||||||
|
{
|
||||||
|
if (json.ValueKind != JsonValueKind.Object)
|
||||||
|
{
|
||||||
|
throw new ArgumentException("MovePose request body must be an object.");
|
||||||
|
}
|
||||||
|
|
||||||
|
// 旧接口要求请求体必须完整提供 x/y/z/w/p/r，不能让模型绑定把缺字段静默补 0。
|
||||||
|
return new LegacyCartesianPoseRequest
|
||||||
|
{
|
||||||
|
x = ReadRequiredFiniteDouble(json, "x", -MaxHorizontalMillimeters, MaxHorizontalMillimeters),
|
||||||
|
y = ReadRequiredFiniteDouble(json, "y", -MaxHorizontalMillimeters, MaxHorizontalMillimeters),
|
||||||
|
z = ReadRequiredFiniteDouble(json, "z", MinZMillimeters, MaxZMillimeters),
|
||||||
|
w = ReadRequiredFiniteDouble(json, "w", -MaxRollYawDegrees, MaxRollYawDegrees),
|
||||||
|
p = ReadRequiredFiniteDouble(json, "p", -MaxPitchDegrees, MaxPitchDegrees),
|
||||||
|
r = ReadRequiredFiniteDouble(json, "r", -MaxRollYawDegrees, MaxRollYawDegrees)
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 转换为兼容层使用的六维位姿数组。
|
||||||
|
/// </summary>
|
||||||
|
/// <returns>[x,y,z,w,p,r] 数组。</returns>
|
||||||
|
public IReadOnlyList<double> ToPoseArray()
|
||||||
|
{
|
||||||
|
return [x, y, z, w, p, r];
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 读取必填有限数值字段。
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="json">请求体 JSON 对象。</param>
|
||||||
|
/// <param name="propertyName">字段名。</param>
|
||||||
|
/// <param name="minInclusive">允许的最小值。</param>
|
||||||
|
/// <param name="maxInclusive">允许的最大值。</param>
|
||||||
|
/// <returns>字段对应的有限 double 数值。</returns>
|
||||||
|
private static double ReadRequiredFiniteDouble(
|
||||||
|
JsonElement json,
|
||||||
|
string propertyName,
|
||||||
|
double minInclusive,
|
||||||
|
double maxInclusive)
|
||||||
|
{
|
||||||
|
if (!json.TryGetProperty(propertyName, out var property) || property.ValueKind != JsonValueKind.Number)
|
||||||
|
{
|
||||||
|
throw new ArgumentException($"MovePose request field '{propertyName}' is required and must be a number.");
|
||||||
|
}
|
||||||
|
|
||||||
|
var value = property.GetDouble();
|
||||||
|
if (double.IsNaN(value) || double.IsInfinity(value))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(propertyName, "MovePose request values must be finite.");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (value < minInclusive || value > maxInclusive)
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(
|
||||||
|
propertyName,
|
||||||
|
value,
|
||||||
|
$"MovePose request field '{propertyName}' must be between {minInclusive} and {maxInclusive}.");
|
||||||
|
}
|
||||||
|
|
||||||
|
return value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 表示旧 `/upload_flyshot/` 路由使用的飞拍上传请求体。
|
/// 表示旧 `/upload_flyshot/` 路由使用的飞拍上传请求体。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
|||||||
@@ -49,23 +49,18 @@ public sealed class StatusController : ControllerBase
|
|||||||
public IActionResult GetSnapshot()
|
public IActionResult GetSnapshot()
|
||||||
{
|
{
|
||||||
var snapshot = _compatService.GetControllerSnapshot();
|
var snapshot = _compatService.GetControllerSnapshot();
|
||||||
var isSetup = _compatService.IsSetUp;
|
var metadata = _compatService.GetStatusSnapshotMetadata();
|
||||||
|
|
||||||
// 状态页需要在机器人未初始化时仍能打开，因此只有初始化后才读取机器人元数据。
|
|
||||||
var robotName = isSetup ? _compatService.GetRobotName() : null;
|
|
||||||
var degreesOfFreedom = isSetup ? _compatService.GetDegreesOfFreedom() : 0;
|
|
||||||
var uploadedTrajectories = isSetup ? _compatService.ListTrajectoryNames() : Array.Empty<string>();
|
|
||||||
|
|
||||||
return Ok(new
|
return Ok(new
|
||||||
{
|
{
|
||||||
Status = "ok",
|
Status = "ok",
|
||||||
Service = "flyshot-server-host",
|
Service = "flyshot-server-host",
|
||||||
ServerVersion = _compatService.GetServerVersion(),
|
ServerVersion = metadata.ServerVersion,
|
||||||
ClientVersion = _compatService.GetClientVersion(),
|
ClientVersion = metadata.ClientVersion,
|
||||||
IsSetup = isSetup,
|
IsSetup = metadata.IsSetup,
|
||||||
RobotName = robotName,
|
RobotName = metadata.RobotName,
|
||||||
DegreesOfFreedom = degreesOfFreedom,
|
DegreesOfFreedom = metadata.DegreesOfFreedom,
|
||||||
UploadedTrajectories = uploadedTrajectories,
|
UploadedTrajectories = metadata.UploadedTrajectories,
|
||||||
Snapshot = snapshot
|
Snapshot = snapshot
|
||||||
});
|
});
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -25,5 +25,12 @@
|
|||||||
"AllowedHeaders": [
|
"AllowedHeaders": [
|
||||||
"*"
|
"*"
|
||||||
]
|
]
|
||||||
|
},
|
||||||
|
"Kestrel": {
|
||||||
|
"Endpoints": {
|
||||||
|
"Http": {
|
||||||
|
"Url": "http://0.0.0.0:5190"
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -30,5 +30,12 @@
|
|||||||
"*"
|
"*"
|
||||||
]
|
]
|
||||||
},
|
},
|
||||||
|
"Kestrel": {
|
||||||
|
"Endpoints": {
|
||||||
|
"Http": {
|
||||||
|
"Url": "http://0.0.0.0:5000"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
"AllowedHosts": "*"
|
"AllowedHosts": "*"
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -16,6 +16,17 @@ const state = {
|
|||||||
history: []
|
history: []
|
||||||
};
|
};
|
||||||
|
|
||||||
|
const requestBodySamples = {
|
||||||
|
"POST /move_pose/": {
|
||||||
|
x: 100.0,
|
||||||
|
y: 200.0,
|
||||||
|
z: 300.0,
|
||||||
|
w: 0.0,
|
||||||
|
p: 45.0,
|
||||||
|
r: 0.0
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
/** 简单的 escape：把任意字符串安全嵌入 textContent 之外的位置时使用。 */
|
/** 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) {
|
function escapeHtml(value) {
|
||||||
return String(value).replace(/[&<>"']/g, function (ch) {
|
return String(value).replace(/[&<>"']/g, function (ch) {
|
||||||
@@ -137,6 +148,11 @@ function storageKey(op) {
|
|||||||
return STORAGE_PREFIX + op.method + ":" + op.path;
|
return STORAGE_PREFIX + op.method + ":" + op.path;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/** 返回指定端点的手工调试样例，处理 JsonElement 等 OpenAPI 无法自动推断字段的接口。 */
|
||||||
|
function getRequestBodySample(op) {
|
||||||
|
return requestBodySamples[op.method + " " + op.path] || null;
|
||||||
|
}
|
||||||
|
|
||||||
/** 读取本端点最近一次输入；解析失败则当作空。 */
|
/** 读取本端点最近一次输入；解析失败则当作空。 */
|
||||||
function loadInputs(op) {
|
function loadInputs(op) {
|
||||||
try {
|
try {
|
||||||
@@ -281,7 +297,7 @@ function renderBodyEditor(container, op, savedBody) {
|
|||||||
if (savedBody !== undefined && savedBody !== null) {
|
if (savedBody !== undefined && savedBody !== null) {
|
||||||
initialText = typeof savedBody === "string" ? savedBody : JSON.stringify(savedBody, null, 2);
|
initialText = typeof savedBody === "string" ? savedBody : JSON.stringify(savedBody, null, 2);
|
||||||
} else {
|
} else {
|
||||||
const sample = buildSampleFromSchema(op.bodySchema, 0);
|
const sample = getRequestBodySample(op) || buildSampleFromSchema(op.bodySchema, 0);
|
||||||
initialText = sample === null ? "" : JSON.stringify(sample, null, 2);
|
initialText = sample === null ? "" : JSON.stringify(sample, null, 2);
|
||||||
}
|
}
|
||||||
textarea.value = initialText;
|
textarea.value = initialText;
|
||||||
|
|||||||
@@ -6,6 +6,9 @@
|
|||||||
--text: #172033;
|
--text: #172033;
|
||||||
--muted: #5b667a;
|
--muted: #5b667a;
|
||||||
--accent: #007c89;
|
--accent: #007c89;
|
||||||
|
--accent-dark: #005d67;
|
||||||
|
--steel: #2f3b4f;
|
||||||
|
--steel-soft: #e7ebf1;
|
||||||
--good: #12805c;
|
--good: #12805c;
|
||||||
--warn: #b7791f;
|
--warn: #b7791f;
|
||||||
--bad: #b42318;
|
--bad: #b42318;
|
||||||
@@ -188,6 +191,289 @@ dd {
|
|||||||
font-family: inherit;
|
font-family: inherit;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
.jog-panel {
|
||||||
|
grid-column: 1 / -1;
|
||||||
|
overflow: hidden;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-toolbar {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: repeat(2, minmax(180px, 1fr)) minmax(220px, 1fr);
|
||||||
|
gap: 12px;
|
||||||
|
padding: 16px;
|
||||||
|
border-bottom: 1px solid var(--line);
|
||||||
|
background: #fbfcfe;
|
||||||
|
}
|
||||||
|
|
||||||
|
.step-field {
|
||||||
|
display: grid;
|
||||||
|
gap: 6px;
|
||||||
|
color: var(--muted);
|
||||||
|
font-size: 13px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.step-field input {
|
||||||
|
min-height: 38px;
|
||||||
|
width: 100%;
|
||||||
|
padding: 0 10px;
|
||||||
|
border: 1px solid var(--line);
|
||||||
|
border-radius: 6px;
|
||||||
|
background: #ffffff;
|
||||||
|
color: var(--text);
|
||||||
|
font: inherit;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-body {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: minmax(0, 1fr) minmax(0, 1fr);
|
||||||
|
gap: 18px;
|
||||||
|
padding: 16px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-card {
|
||||||
|
min-width: 0;
|
||||||
|
border: 1px solid #ccd4df;
|
||||||
|
border-radius: 8px;
|
||||||
|
background: linear-gradient(180deg, #ffffff 0%, #f3f6fa 100%);
|
||||||
|
box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.9);
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-head {
|
||||||
|
display: flex;
|
||||||
|
align-items: center;
|
||||||
|
justify-content: space-between;
|
||||||
|
gap: 12px;
|
||||||
|
padding: 14px 16px 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-head h3 {
|
||||||
|
margin: 0;
|
||||||
|
font-size: 16px;
|
||||||
|
font-weight: 650;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-head span {
|
||||||
|
color: var(--muted);
|
||||||
|
font-family: Consolas, "Cascadia Mono", monospace;
|
||||||
|
font-size: 13px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.stick-console {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: 72px 1fr 72px;
|
||||||
|
grid-template-rows: 72px 72px 72px;
|
||||||
|
gap: 8px;
|
||||||
|
width: min(100%, 344px);
|
||||||
|
margin: 18px auto 16px;
|
||||||
|
padding: 14px;
|
||||||
|
border: 1px solid #c2cad7;
|
||||||
|
border-radius: 999px;
|
||||||
|
background:
|
||||||
|
radial-gradient(circle at 50% 50%, #ffffff 0 26%, #e6ebf2 27% 48%, #cdd5e0 49% 50%, #edf1f6 51% 100%);
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-button {
|
||||||
|
min-width: 44px;
|
||||||
|
min-height: 44px;
|
||||||
|
color: var(--steel);
|
||||||
|
font-weight: 650;
|
||||||
|
touch-action: none;
|
||||||
|
user-select: none;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button,
|
||||||
|
.mini-button {
|
||||||
|
border: 1px solid #99a8ba;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: linear-gradient(180deg, #ffffff 0%, #e5ebf2 100%);
|
||||||
|
box-shadow: 0 2px 0 #b7c1ce;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button {
|
||||||
|
min-width: 0;
|
||||||
|
min-height: 64px;
|
||||||
|
padding: 0 8px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.mini-button {
|
||||||
|
padding: 0 10px;
|
||||||
|
background: var(--surface);
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button:hover,
|
||||||
|
.axis-button.active {
|
||||||
|
border-color: var(--accent);
|
||||||
|
background: linear-gradient(180deg, #10a4b3 0%, var(--accent) 100%);
|
||||||
|
color: #ffffff;
|
||||||
|
box-shadow: 0 2px 0 var(--accent-dark);
|
||||||
|
}
|
||||||
|
|
||||||
|
.mini-button:hover,
|
||||||
|
.mini-button.active {
|
||||||
|
border-color: var(--warn);
|
||||||
|
background: var(--warn);
|
||||||
|
color: #ffffff;
|
||||||
|
box-shadow: 0 2px 0 #8a5a13;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-button:focus-visible {
|
||||||
|
outline: 3px solid rgba(0, 124, 137, 0.3);
|
||||||
|
outline-offset: 2px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-button.active {
|
||||||
|
transform: translateY(1px);
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.up {
|
||||||
|
grid-column: 2;
|
||||||
|
grid-row: 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.left {
|
||||||
|
grid-column: 1;
|
||||||
|
grid-row: 2;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.right {
|
||||||
|
grid-column: 3;
|
||||||
|
grid-row: 2;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button.down {
|
||||||
|
grid-column: 2;
|
||||||
|
grid-row: 3;
|
||||||
|
}
|
||||||
|
|
||||||
|
.center-stack {
|
||||||
|
display: grid;
|
||||||
|
grid-column: 2;
|
||||||
|
grid-row: 2;
|
||||||
|
grid-template-columns: 1fr 1fr;
|
||||||
|
gap: 6px;
|
||||||
|
place-items: center;
|
||||||
|
padding: 8px;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: rgba(47, 59, 79, 0.08);
|
||||||
|
}
|
||||||
|
|
||||||
|
.hint-row {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: repeat(3, minmax(0, 1fr));
|
||||||
|
gap: 8px;
|
||||||
|
padding: 0 16px 16px;
|
||||||
|
color: var(--muted);
|
||||||
|
font-size: 13px;
|
||||||
|
text-align: center;
|
||||||
|
}
|
||||||
|
|
||||||
|
.hint-row span {
|
||||||
|
min-height: 28px;
|
||||||
|
padding: 5px 8px;
|
||||||
|
border-radius: 999px;
|
||||||
|
background: var(--steel-soft);
|
||||||
|
white-space: nowrap;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-status {
|
||||||
|
display: flex;
|
||||||
|
align-items: center;
|
||||||
|
justify-content: flex-end;
|
||||||
|
min-height: 38px;
|
||||||
|
color: var(--muted);
|
||||||
|
font-family: Consolas, "Cascadia Mono", monospace;
|
||||||
|
text-align: right;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-status.error {
|
||||||
|
color: var(--bad);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-panel {
|
||||||
|
margin: 0 16px 16px;
|
||||||
|
overflow: hidden;
|
||||||
|
border: 1px solid var(--line);
|
||||||
|
border-radius: 8px;
|
||||||
|
background: #fbfcfe;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-head {
|
||||||
|
display: flex;
|
||||||
|
align-items: center;
|
||||||
|
justify-content: space-between;
|
||||||
|
gap: 12px;
|
||||||
|
padding: 12px 14px;
|
||||||
|
border-bottom: 1px solid var(--line);
|
||||||
|
background: var(--surface);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-head h3 {
|
||||||
|
margin: 0;
|
||||||
|
font-size: 15px;
|
||||||
|
font-weight: 650;
|
||||||
|
}
|
||||||
|
|
||||||
|
.clear-button {
|
||||||
|
min-height: 34px;
|
||||||
|
padding: 0 12px;
|
||||||
|
border-color: var(--line);
|
||||||
|
background: #ffffff;
|
||||||
|
color: var(--muted);
|
||||||
|
}
|
||||||
|
|
||||||
|
.clear-button:hover {
|
||||||
|
border-color: var(--accent);
|
||||||
|
color: var(--accent);
|
||||||
|
}
|
||||||
|
|
||||||
|
.request-log {
|
||||||
|
display: grid;
|
||||||
|
gap: 8px;
|
||||||
|
max-height: 300px;
|
||||||
|
min-height: 54px;
|
||||||
|
margin: 0;
|
||||||
|
padding: 12px 14px 14px;
|
||||||
|
overflow: auto;
|
||||||
|
font-family: Consolas, "Cascadia Mono", monospace;
|
||||||
|
font-size: 13px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry {
|
||||||
|
display: grid;
|
||||||
|
grid-template-columns: 88px 96px minmax(0, 1fr);
|
||||||
|
gap: 10px;
|
||||||
|
align-items: start;
|
||||||
|
padding: 9px 10px;
|
||||||
|
border: 1px solid #e1e7ef;
|
||||||
|
border-radius: 6px;
|
||||||
|
background: #ffffff;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry:first-child {
|
||||||
|
border-color: rgba(0, 124, 137, 0.35);
|
||||||
|
background: rgba(0, 124, 137, 0.04);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry.error {
|
||||||
|
border-color: rgba(180, 35, 24, 0.35);
|
||||||
|
background: rgba(180, 35, 24, 0.06);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-time,
|
||||||
|
.log-axis {
|
||||||
|
color: var(--muted);
|
||||||
|
white-space: nowrap;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-payload {
|
||||||
|
overflow-wrap: anywhere;
|
||||||
|
color: var(--text);
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-empty {
|
||||||
|
color: var(--muted);
|
||||||
|
}
|
||||||
|
|
||||||
@media (max-width: 820px) {
|
@media (max-width: 820px) {
|
||||||
.topbar {
|
.topbar {
|
||||||
align-items: flex-start;
|
align-items: flex-start;
|
||||||
@@ -199,6 +485,16 @@ dd {
|
|||||||
grid-template-columns: 1fr;
|
grid-template-columns: 1fr;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
.jog-toolbar,
|
||||||
|
.jog-body {
|
||||||
|
grid-template-columns: 1fr;
|
||||||
|
}
|
||||||
|
|
||||||
|
.jog-status {
|
||||||
|
justify-content: flex-start;
|
||||||
|
text-align: left;
|
||||||
|
}
|
||||||
|
|
||||||
dl {
|
dl {
|
||||||
grid-template-columns: 1fr;
|
grid-template-columns: 1fr;
|
||||||
}
|
}
|
||||||
@@ -212,3 +508,19 @@ dd {
|
|||||||
padding-top: 2px;
|
padding-top: 2px;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@media (max-width: 520px) {
|
||||||
|
.stick-console {
|
||||||
|
grid-template-columns: 60px 1fr 60px;
|
||||||
|
grid-template-rows: 60px 60px 60px;
|
||||||
|
padding: 10px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.axis-button {
|
||||||
|
min-height: 56px;
|
||||||
|
}
|
||||||
|
|
||||||
|
.log-entry {
|
||||||
|
grid-template-columns: 1fr;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|||||||
@@ -15,9 +15,37 @@ const fields = {
|
|||||||
joints: document.getElementById("joints"),
|
joints: document.getElementById("joints"),
|
||||||
pose: document.getElementById("pose"),
|
pose: document.getElementById("pose"),
|
||||||
trajectories: document.getElementById("trajectories"),
|
trajectories: document.getElementById("trajectories"),
|
||||||
refresh: document.getElementById("refresh")
|
refresh: document.getElementById("refresh"),
|
||||||
|
linearStep: document.getElementById("linear-step"),
|
||||||
|
angularStep: document.getElementById("angular-step"),
|
||||||
|
jogStatus: document.getElementById("jog-status"),
|
||||||
|
requestLog: document.getElementById("request-log"),
|
||||||
|
clearLog: document.getElementById("clear-log"),
|
||||||
|
jogButtons: Array.from(document.querySelectorAll(".jog-button"))
|
||||||
};
|
};
|
||||||
|
|
||||||
|
const axisIndexes = {
|
||||||
|
x: 0,
|
||||||
|
y: 1,
|
||||||
|
z: 2,
|
||||||
|
w: 3,
|
||||||
|
p: 4,
|
||||||
|
r: 5
|
||||||
|
};
|
||||||
|
|
||||||
|
// 点动状态集中保存，确保按住按钮时不会并发发送多条 MovePose 请求。
|
||||||
|
const jogState = {
|
||||||
|
timer: null,
|
||||||
|
activeButton: null,
|
||||||
|
inFlight: false,
|
||||||
|
lastSnapshot: null,
|
||||||
|
sequence: 0,
|
||||||
|
logs: []
|
||||||
|
};
|
||||||
|
|
||||||
|
const maxJogLogs = 80;
|
||||||
|
const jogIntervalMs = 250;
|
||||||
|
|
||||||
function formatArray(values) {
|
function formatArray(values) {
|
||||||
if (!Array.isArray(values) || values.length === 0) {
|
if (!Array.isArray(values) || values.length === 0) {
|
||||||
return "--";
|
return "--";
|
||||||
@@ -56,12 +84,202 @@ function setDot(connectionState) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
function clampStep(input, min, max) {
|
||||||
|
const value = Number(input.value);
|
||||||
|
if (!Number.isFinite(value)) {
|
||||||
|
input.value = String(min);
|
||||||
|
return min;
|
||||||
|
}
|
||||||
|
|
||||||
|
const clamped = Math.min(Math.max(value, min), max);
|
||||||
|
input.value = String(clamped);
|
||||||
|
return clamped;
|
||||||
|
}
|
||||||
|
|
||||||
|
function getStepForAxis(axis) {
|
||||||
|
// 平移和姿态使用不同单位，但共享 0.1 到 20 的现场可调范围。
|
||||||
|
return axis === "x" || axis === "y" || axis === "z"
|
||||||
|
? clampStep(fields.linearStep, 0.1, 20)
|
||||||
|
: clampStep(fields.angularStep, 0.1, 20);
|
||||||
|
}
|
||||||
|
|
||||||
|
function setJogStatus(message, isError) {
|
||||||
|
fields.jogStatus.textContent = message;
|
||||||
|
fields.jogStatus.classList.toggle("error", Boolean(isError));
|
||||||
|
}
|
||||||
|
|
||||||
|
function formatDirection(axis, direction) {
|
||||||
|
return `${axis.toUpperCase()}${direction > 0 ? "+" : "-"}`;
|
||||||
|
}
|
||||||
|
|
||||||
|
function renderJogLogs() {
|
||||||
|
fields.requestLog.replaceChildren();
|
||||||
|
|
||||||
|
if (jogState.logs.length === 0) {
|
||||||
|
const empty = document.createElement("div");
|
||||||
|
empty.className = "log-empty";
|
||||||
|
empty.textContent = "暂无请求记录";
|
||||||
|
fields.requestLog.appendChild(empty);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
jogState.logs.forEach(function (entry) {
|
||||||
|
const row = document.createElement("div");
|
||||||
|
row.className = `log-entry${entry.ok ? "" : " error"}`;
|
||||||
|
|
||||||
|
const time = document.createElement("span");
|
||||||
|
time.className = "log-time";
|
||||||
|
time.textContent = entry.time;
|
||||||
|
|
||||||
|
const axis = document.createElement("span");
|
||||||
|
axis.className = "log-axis";
|
||||||
|
axis.textContent = `#${entry.sequence} ${entry.direction}`;
|
||||||
|
|
||||||
|
const payload = document.createElement("span");
|
||||||
|
payload.className = "log-payload";
|
||||||
|
payload.textContent = `step=${entry.step} ${entry.unit}; body=${entry.body}; ${entry.result}`;
|
||||||
|
|
||||||
|
row.append(time, axis, payload);
|
||||||
|
fields.requestLog.appendChild(row);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
function addJogLog(entry) {
|
||||||
|
jogState.logs.unshift(entry);
|
||||||
|
if (jogState.logs.length > maxJogLogs) {
|
||||||
|
jogState.logs.length = maxJogLogs;
|
||||||
|
}
|
||||||
|
|
||||||
|
renderJogLogs();
|
||||||
|
}
|
||||||
|
|
||||||
|
async function loadSnapshotForJog() {
|
||||||
|
const response = await fetch("/api/status/snapshot", { cache: "no-store" });
|
||||||
|
if (!response.ok) {
|
||||||
|
throw new Error(`状态快照读取失败: HTTP ${response.status}`);
|
||||||
|
}
|
||||||
|
|
||||||
|
const payload = await response.json();
|
||||||
|
jogState.lastSnapshot = payload.snapshot;
|
||||||
|
return payload.snapshot;
|
||||||
|
}
|
||||||
|
|
||||||
|
function buildJogPose(snapshot, axis, direction) {
|
||||||
|
// 每次点动都从最新 TCP 位姿出发，只修改一个轴，避免连续按压时累积本地误差。
|
||||||
|
const sourcePose = Array.isArray(snapshot.cartesianPose) ? snapshot.cartesianPose : [];
|
||||||
|
if (sourcePose.length < 6) {
|
||||||
|
throw new Error("当前 TCP 位姿不足 6 维，无法点动。");
|
||||||
|
}
|
||||||
|
|
||||||
|
const pose = sourcePose.slice(0, 6).map(Number);
|
||||||
|
if (pose.some(value => !Number.isFinite(value))) {
|
||||||
|
throw new Error("当前 TCP 位姿包含非数值，无法点动。");
|
||||||
|
}
|
||||||
|
|
||||||
|
const axisIndex = axisIndexes[axis];
|
||||||
|
pose[axisIndex] = Number((pose[axisIndex] + direction * getStepForAxis(axis)).toFixed(6));
|
||||||
|
return {
|
||||||
|
x: pose[0],
|
||||||
|
y: pose[1],
|
||||||
|
z: pose[2],
|
||||||
|
w: pose[3],
|
||||||
|
p: pose[4],
|
||||||
|
r: pose[5]
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
async function sendJog(button) {
|
||||||
|
// MovePose 底层会生成完整直角轨迹；前端这里只负责构造增量目标位姿。
|
||||||
|
if (jogState.inFlight) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
const axis = button.dataset.axis;
|
||||||
|
const direction = Number(button.dataset.direction);
|
||||||
|
if (!Object.prototype.hasOwnProperty.call(axisIndexes, axis) || !Number.isFinite(direction)) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
jogState.inFlight = true;
|
||||||
|
const step = getStepForAxis(axis);
|
||||||
|
const directionLabel = formatDirection(axis, direction);
|
||||||
|
const sequence = ++jogState.sequence;
|
||||||
|
let bodyText = "{}";
|
||||||
|
let resultText = "";
|
||||||
|
let ok = false;
|
||||||
|
|
||||||
|
try {
|
||||||
|
const snapshot = await loadSnapshotForJog();
|
||||||
|
const pose = buildJogPose(snapshot, axis, direction);
|
||||||
|
bodyText = JSON.stringify(pose);
|
||||||
|
const response = await fetch("/move_pose/", {
|
||||||
|
method: "POST",
|
||||||
|
headers: { "Content-Type": "application/json" },
|
||||||
|
body: bodyText
|
||||||
|
});
|
||||||
|
|
||||||
|
if (!response.ok) {
|
||||||
|
throw new Error(`MovePose 调用失败: HTTP ${response.status}`);
|
||||||
|
}
|
||||||
|
|
||||||
|
ok = true;
|
||||||
|
resultText = `HTTP ${response.status}`;
|
||||||
|
setJogStatus(`${directionLabel} 已发送`, false);
|
||||||
|
await refreshStatus();
|
||||||
|
} catch (error) {
|
||||||
|
resultText = error instanceof Error ? error.message : "点动失败";
|
||||||
|
setJogStatus(resultText, true);
|
||||||
|
stopJog();
|
||||||
|
} finally {
|
||||||
|
addJogLog({
|
||||||
|
time: new Date().toLocaleTimeString(),
|
||||||
|
sequence,
|
||||||
|
direction: directionLabel,
|
||||||
|
step,
|
||||||
|
unit: axis === "x" || axis === "y" || axis === "z" ? "mm" : "deg",
|
||||||
|
body: bodyText,
|
||||||
|
result: resultText,
|
||||||
|
ok
|
||||||
|
});
|
||||||
|
jogState.inFlight = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
function startJog(event) {
|
||||||
|
const button = event.currentTarget;
|
||||||
|
if (!button || button.disabled) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
event.preventDefault();
|
||||||
|
stopJog();
|
||||||
|
jogState.activeButton = button;
|
||||||
|
button.classList.add("active");
|
||||||
|
sendJog(button);
|
||||||
|
jogState.timer = window.setInterval(function () {
|
||||||
|
sendJog(button);
|
||||||
|
}, jogIntervalMs);
|
||||||
|
}
|
||||||
|
|
||||||
|
function stopJog() {
|
||||||
|
if (jogState.timer !== null) {
|
||||||
|
window.clearInterval(jogState.timer);
|
||||||
|
jogState.timer = null;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (jogState.activeButton) {
|
||||||
|
jogState.activeButton.classList.remove("active");
|
||||||
|
jogState.activeButton = null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
async function refreshStatus() {
|
async function refreshStatus() {
|
||||||
fields.refresh.disabled = true;
|
fields.refresh.disabled = true;
|
||||||
try {
|
try {
|
||||||
const response = await fetch("/api/status/snapshot", { cache: "no-store" });
|
const response = await fetch("/api/status/snapshot", { cache: "no-store" });
|
||||||
const payload = await response.json();
|
const payload = await response.json();
|
||||||
const snapshot = payload.snapshot;
|
const snapshot = payload.snapshot;
|
||||||
|
jogState.lastSnapshot = snapshot;
|
||||||
|
|
||||||
fields.connectionState.textContent = snapshot.connectionState;
|
fields.connectionState.textContent = snapshot.connectionState;
|
||||||
fields.robotName.textContent = payload.robotName || "--";
|
fields.robotName.textContent = payload.robotName || "--";
|
||||||
@@ -88,5 +306,28 @@ async function refreshStatus() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fields.refresh.addEventListener("click", refreshStatus);
|
fields.refresh.addEventListener("click", refreshStatus);
|
||||||
|
fields.linearStep.addEventListener("change", function () {
|
||||||
|
clampStep(fields.linearStep, 0.1, 20);
|
||||||
|
});
|
||||||
|
fields.angularStep.addEventListener("change", function () {
|
||||||
|
clampStep(fields.angularStep, 0.1, 20);
|
||||||
|
});
|
||||||
|
fields.clearLog.addEventListener("click", function () {
|
||||||
|
jogState.logs = [];
|
||||||
|
renderJogLogs();
|
||||||
|
});
|
||||||
|
fields.jogButtons.forEach(function (button) {
|
||||||
|
button.addEventListener("pointerdown", startJog);
|
||||||
|
button.addEventListener("pointerup", stopJog);
|
||||||
|
button.addEventListener("pointercancel", stopJog);
|
||||||
|
button.addEventListener("pointerleave", stopJog);
|
||||||
|
});
|
||||||
|
window.addEventListener("blur", stopJog);
|
||||||
|
window.addEventListener("keyup", function (event) {
|
||||||
|
if (event.key === "Escape") {
|
||||||
|
stopJog();
|
||||||
|
}
|
||||||
|
});
|
||||||
|
renderJogLogs();
|
||||||
refreshStatus();
|
refreshStatus();
|
||||||
window.setInterval(refreshStatus, 2000);
|
window.setInterval(refreshStatus, 2000);
|
||||||
|
|||||||
@@ -57,6 +57,73 @@
|
|||||||
<dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
|
<dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
|
||||||
</dl>
|
</dl>
|
||||||
</section>
|
</section>
|
||||||
|
<section class="jog-panel">
|
||||||
|
<h2>直角坐标点动</h2>
|
||||||
|
<div class="jog-toolbar">
|
||||||
|
<label class="step-field" for="linear-step">
|
||||||
|
<span>平移步长 mm</span>
|
||||||
|
<input id="linear-step" type="number" min="0.1" max="20" step="0.1" value="1">
|
||||||
|
</label>
|
||||||
|
<label class="step-field" for="angular-step">
|
||||||
|
<span>姿态步长 deg</span>
|
||||||
|
<input id="angular-step" type="number" min="0.1" max="20" step="0.1" value="1">
|
||||||
|
</label>
|
||||||
|
<div id="jog-status" class="jog-status">等待点动输入</div>
|
||||||
|
</div>
|
||||||
|
<div class="jog-body">
|
||||||
|
<article class="stick-card">
|
||||||
|
<div class="stick-head">
|
||||||
|
<h3>XYZ 平移摇杆</h3>
|
||||||
|
<span>mm</span>
|
||||||
|
</div>
|
||||||
|
<div class="stick-console" aria-label="XYZ 平移摇杆">
|
||||||
|
<button class="jog-button axis-button up" type="button" data-axis="y" data-direction="1">Y+</button>
|
||||||
|
<button class="jog-button axis-button left" type="button" data-axis="x" data-direction="-1">X-</button>
|
||||||
|
<div class="center-stack">
|
||||||
|
<button class="jog-button mini-button" type="button" data-axis="z" data-direction="1">Z+</button>
|
||||||
|
<button class="jog-button mini-button" type="button" data-axis="z" data-direction="-1">Z-</button>
|
||||||
|
</div>
|
||||||
|
<button class="jog-button axis-button right" type="button" data-axis="x" data-direction="1">X+</button>
|
||||||
|
<button class="jog-button axis-button down" type="button" data-axis="y" data-direction="-1">Y-</button>
|
||||||
|
</div>
|
||||||
|
<div class="hint-row">
|
||||||
|
<span>X 左右</span>
|
||||||
|
<span>Y 上下</span>
|
||||||
|
<span>Z 中心</span>
|
||||||
|
</div>
|
||||||
|
</article>
|
||||||
|
<article class="stick-card">
|
||||||
|
<div class="stick-head">
|
||||||
|
<h3>WPR 姿态摇杆</h3>
|
||||||
|
<span>deg</span>
|
||||||
|
</div>
|
||||||
|
<div class="stick-console" aria-label="WPR 姿态摇杆">
|
||||||
|
<button class="jog-button axis-button up" type="button" data-axis="p" data-direction="1">P+</button>
|
||||||
|
<button class="jog-button axis-button left" type="button" data-axis="w" data-direction="-1">W-</button>
|
||||||
|
<div class="center-stack">
|
||||||
|
<button class="jog-button mini-button" type="button" data-axis="r" data-direction="-1">R-</button>
|
||||||
|
<button class="jog-button mini-button" type="button" data-axis="r" data-direction="1">R+</button>
|
||||||
|
</div>
|
||||||
|
<button class="jog-button axis-button right" type="button" data-axis="w" data-direction="1">W+</button>
|
||||||
|
<button class="jog-button axis-button down" type="button" data-axis="p" data-direction="-1">P-</button>
|
||||||
|
</div>
|
||||||
|
<div class="hint-row">
|
||||||
|
<span>W 左右</span>
|
||||||
|
<span>P 上下</span>
|
||||||
|
<span>R 中心</span>
|
||||||
|
</div>
|
||||||
|
</article>
|
||||||
|
</div>
|
||||||
|
<div class="log-panel">
|
||||||
|
<div class="log-head">
|
||||||
|
<h3>请求日志</h3>
|
||||||
|
<button id="clear-log" class="clear-button" type="button">清空</button>
|
||||||
|
</div>
|
||||||
|
<div id="request-log" class="request-log" aria-live="polite">
|
||||||
|
<div class="log-empty">暂无请求记录</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
</section>
|
||||||
</div>
|
</div>
|
||||||
</main>
|
</main>
|
||||||
<script src="/assets/status.js" defer></script>
|
<script src="/assets/status.js" defer></script>
|
||||||
|
|||||||
@@ -1,30 +1,31 @@
|
|||||||
using Flyshot.Core.Config;
|
using Flyshot.Core.Config;
|
||||||
using Flyshot.Core.Domain;
|
|
||||||
|
|
||||||
namespace Flyshot.Core.Tests;
|
namespace Flyshot.Core.Tests;
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
public sealed class ConfigCompatibilityTests
|
public sealed class ConfigCompatibilityTests
|
||||||
{
|
{
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 验证现有 RobotConfig.json 能被加载，并保持关键机器人参数与飞拍程序内容不变。
|
/// 验证现有旧样本配置能被加载，并保持关键机器人参数与飞拍程序内容不变。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[Fact]
|
[Fact]
|
||||||
public void RobotConfigLoader_LoadsLegacyRobotConfig_AndPreservesPrograms()
|
public void RobotConfigLoader_LoadsLegacyRobotConfig_AndPreservesPrograms()
|
||||||
{
|
{
|
||||||
var workspaceRoot = GetWorkspaceRoot();
|
var workspaceRoot = GetWorkspaceRoot();
|
||||||
var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "RobotConfig.json");
|
var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "EOL10_EAU_0.json");
|
||||||
|
|
||||||
var loaded = new RobotConfigLoader().Load(configPath);
|
var loaded = new RobotConfigLoader().Load(configPath);
|
||||||
|
|
||||||
Assert.True(loaded.Robot.UseDo);
|
Assert.True(loaded.Robot.UseDo);
|
||||||
Assert.Equal([7, 8], loaded.Robot.IoAddresses);
|
Assert.Equal([7, 8], loaded.Robot.IoAddresses);
|
||||||
Assert.Equal(2, loaded.Robot.IoKeepCycles);
|
Assert.Equal(2, loaded.Robot.IoKeepCycles);
|
||||||
|
Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
|
||||||
Assert.Equal(1.0, loaded.Robot.AccLimitScale);
|
Assert.Equal(1.0, loaded.Robot.AccLimitScale);
|
||||||
Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
|
Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
|
||||||
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
|
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
|
||||||
|
Assert.True(loaded.Robot.SmoothStartStopTiming);
|
||||||
Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
|
Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
|
||||||
|
|
||||||
var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
|
var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
|
||||||
@@ -70,9 +71,12 @@ public sealed class ConfigCompatibilityTests
|
|||||||
Assert.False(loaded.Robot.UseDo);
|
Assert.False(loaded.Robot.UseDo);
|
||||||
Assert.Empty(loaded.Robot.IoAddresses);
|
Assert.Empty(loaded.Robot.IoAddresses);
|
||||||
Assert.Equal(3, loaded.Robot.IoKeepCycles);
|
Assert.Equal(3, loaded.Robot.IoKeepCycles);
|
||||||
|
Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
|
||||||
Assert.Equal(0.5, loaded.Robot.AccLimitScale);
|
Assert.Equal(0.5, loaded.Robot.AccLimitScale);
|
||||||
Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
|
Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
|
||||||
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
|
Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
|
||||||
|
Assert.Equal(1.0, loaded.Robot.SpeedRatio);
|
||||||
|
Assert.True(loaded.Robot.SmoothStartStopTiming);
|
||||||
Assert.Equal([0, 0, 0], program.OffsetValues);
|
Assert.Equal([0, 0, 0], program.OffsetValues);
|
||||||
Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
|
Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
|
||||||
}
|
}
|
||||||
@@ -82,6 +86,46 @@ public sealed class ConfigCompatibilityTests
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证 RobotConfig.json 可以显式配置运行时默认速度倍率，供 MoveJoint 和后续执行链路初始化使用。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void RobotConfigLoader_LoadsRuntimeSpeedRatio()
|
||||||
|
{
|
||||||
|
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,
|
||||||
|
"speed_ratio": 0.65
|
||||||
|
},
|
||||||
|
"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(0.65, loaded.Robot.SpeedRatio, precision: 6);
|
||||||
|
}
|
||||||
|
finally
|
||||||
|
{
|
||||||
|
Directory.Delete(tempRoot, recursive: true);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 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。
|
/// 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>
|
/// </summary>
|
||||||
@@ -123,13 +167,93 @@ public sealed class ConfigCompatibilityTests
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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 可以显式配置触发绑定后的命令 sample 后移周期数。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void RobotConfigLoader_LoadsTriggerSampleIndexOffsetCycles()
|
||||||
|
{
|
||||||
|
var tempRoot = CreateTempDirectory();
|
||||||
|
try
|
||||||
|
{
|
||||||
|
var configPath = Path.Combine(tempRoot, "legacy.json");
|
||||||
|
File.WriteAllText(
|
||||||
|
configPath,
|
||||||
|
"""
|
||||||
|
{
|
||||||
|
"robot": {
|
||||||
|
"use_do": true,
|
||||||
|
"io_keep_cycles": 2,
|
||||||
|
"trigger_sample_index_offset_cycles": 8,
|
||||||
|
"acc_limit": 1.0,
|
||||||
|
"jerk_limit": 1.0
|
||||||
|
},
|
||||||
|
"flying_shots": {
|
||||||
|
"demo": {
|
||||||
|
"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
|
||||||
|
"shot_flags": [false, false, false, false]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
""");
|
||||||
|
|
||||||
|
var loaded = new RobotConfigLoader().Load(configPath);
|
||||||
|
|
||||||
|
Assert.Equal(8, loaded.Robot.TriggerSampleIndexOffsetCycles);
|
||||||
|
}
|
||||||
|
finally
|
||||||
|
{
|
||||||
|
Directory.Delete(tempRoot, recursive: true);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
/// </summary>
|
||||||
[Fact]
|
[Fact]
|
||||||
public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
|
public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
|
||||||
{
|
{
|
||||||
var workspaceRoot = GetWorkspaceRoot();
|
var replacementRoot = GetReplacementRoot();
|
||||||
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
|
var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
|
||||||
|
|
||||||
var profile = new RobotModelLoader().LoadProfile(modelPath);
|
var profile = new RobotModelLoader().LoadProfile(modelPath);
|
||||||
|
|
||||||
@@ -147,13 +271,13 @@ public sealed class ConfigCompatibilityTests
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <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>
|
/// </summary>
|
||||||
[Fact]
|
[Fact]
|
||||||
public void RobotModelLoader_AppliesAccelerationAndJerkScales()
|
public void RobotModelLoader_AppliesAccelerationAndJerkScales()
|
||||||
{
|
{
|
||||||
var workspaceRoot = GetWorkspaceRoot();
|
var replacementRoot = GetReplacementRoot();
|
||||||
var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
|
var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
|
||||||
|
|
||||||
var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
|
var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
|
||||||
|
|
||||||
@@ -161,6 +285,28 @@ public sealed class ConfigCompatibilityTests
|
|||||||
Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
|
Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 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 RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
|
||||||
|
{
|
||||||
|
var replacementRoot = GetReplacementRoot();
|
||||||
|
var modelPath = Path.Combine(replacementRoot, "Config", "Models", "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>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
|
|||||||
@@ -34,7 +34,7 @@ public sealed class ControllerClientCompatConfigRootTests
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 验证机器人目录优先从显式 ConfigRoot/Models 加载 .robot 文件。
|
/// 验证机器人目录优先从显式 ConfigRoot/Models 加载现场 JSON 模型文件。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[Fact]
|
[Fact]
|
||||||
public void ControllerClientCompatRobotCatalog_LoadsModelFromConfigRootModels()
|
public void ControllerClientCompatRobotCatalog_LoadsModelFromConfigRootModels()
|
||||||
@@ -48,7 +48,7 @@ public sealed class ControllerClientCompatConfigRootTests
|
|||||||
|
|
||||||
var profile = catalog.LoadProfile("FANUC_LR_Mate_200iD");
|
var profile = catalog.LoadProfile("FANUC_LR_Mate_200iD");
|
||||||
|
|
||||||
Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.robot"), profile.ModelPath);
|
Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.json"), profile.ModelPath);
|
||||||
}
|
}
|
||||||
finally
|
finally
|
||||||
{
|
{
|
||||||
@@ -71,9 +71,11 @@ public sealed class ControllerClientCompatConfigRootTests
|
|||||||
useDo: true,
|
useDo: true,
|
||||||
ioAddresses: [7, 8],
|
ioAddresses: [7, 8],
|
||||||
ioKeepCycles: 2,
|
ioKeepCycles: 2,
|
||||||
|
triggerSampleIndexOffsetCycles: 7,
|
||||||
accLimitScale: 1.0,
|
accLimitScale: 1.0,
|
||||||
jerkLimitScale: 1.0,
|
jerkLimitScale: 1.0,
|
||||||
adaptIcspTryNum: 5);
|
adaptIcspTryNum: 5,
|
||||||
|
speedRatio: 0.65);
|
||||||
var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
|
var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
|
||||||
|
|
||||||
store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
|
store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
|
||||||
@@ -83,6 +85,8 @@ public sealed class ControllerClientCompatConfigRootTests
|
|||||||
Assert.False(Directory.Exists(Path.Combine(configRoot, "TrajectoryStore")), "不应再创建独立轨迹存储目录。");
|
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);
|
var loaded = store.LoadAll("FANUC_LR_Mate_200iD", out var loadedSettings);
|
||||||
Assert.NotNull(loadedSettings);
|
Assert.NotNull(loadedSettings);
|
||||||
|
Assert.Equal(7, loadedSettings.TriggerSampleIndexOffsetCycles);
|
||||||
|
Assert.Equal(0.65, loadedSettings.SpeedRatio, precision: 6);
|
||||||
Assert.Contains(trajectory.Name, loaded);
|
Assert.Contains(trajectory.Name, loaded);
|
||||||
|
|
||||||
store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);
|
store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);
|
||||||
@@ -117,15 +121,15 @@ public sealed class ControllerClientCompatConfigRootTests
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 复制仓库内已固化的现场机器人模型到临时 Config/Models 目录。
|
/// 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>
|
/// </summary>
|
||||||
private static void CopySampleRobotModel(string configRoot)
|
private static void CopySampleRobotModel(string configRoot)
|
||||||
{
|
{
|
||||||
var modelDir = Path.Combine(configRoot, "Models");
|
var modelDir = Path.Combine(configRoot, "Models");
|
||||||
Directory.CreateDirectory(modelDir);
|
Directory.CreateDirectory(modelDir);
|
||||||
File.Copy(
|
File.Copy(
|
||||||
Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.robot"),
|
Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.json"),
|
||||||
Path.Combine(modelDir, "LR_Mate_200iD_7L.robot"));
|
Path.Combine(modelDir, "LR_Mate_200iD_7L.json"));
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
|
|||||||
@@ -1,5 +1,6 @@
|
|||||||
using System.Text.Json;
|
using System.Text.Json;
|
||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
|
using Flyshot.Core.Planning.Sampling;
|
||||||
|
|
||||||
namespace Flyshot.Core.Tests;
|
namespace Flyshot.Core.Tests;
|
||||||
|
|
||||||
@@ -164,7 +165,8 @@ public sealed class DomainModelTests
|
|||||||
triggerTime: 0.5,
|
triggerTime: 0.5,
|
||||||
offsetCycles: 0,
|
offsetCycles: 0,
|
||||||
holdCycles: 1,
|
holdCycles: 1,
|
||||||
addressGroup: new IoAddressGroup(new[] { 100 }))
|
addressGroup: new IoAddressGroup(new[] { 100 }),
|
||||||
|
referenceJointsDegrees: new[] { 12.5, -3.0 })
|
||||||
},
|
},
|
||||||
artifacts: new[]
|
artifacts: new[]
|
||||||
{
|
{
|
||||||
@@ -176,7 +178,8 @@ public sealed class DomainModelTests
|
|||||||
failureReason: null,
|
failureReason: null,
|
||||||
usedCache: true,
|
usedCache: true,
|
||||||
originalWaypointCount: 4,
|
originalWaypointCount: 4,
|
||||||
plannedWaypointCount: 5);
|
plannedWaypointCount: 5,
|
||||||
|
triggerSampleIndexOffsetCycles: 7);
|
||||||
|
|
||||||
var json = JsonSerializer.Serialize(result);
|
var json = JsonSerializer.Serialize(result);
|
||||||
|
|
||||||
@@ -184,6 +187,36 @@ public sealed class DomainModelTests
|
|||||||
Assert.Contains("\"method\":\"SelfAdaptIcsp\"", json);
|
Assert.Contains("\"method\":\"SelfAdaptIcsp\"", json);
|
||||||
Assert.Contains("\"kind\":\"JointDenseTrajectory\"", json);
|
Assert.Contains("\"kind\":\"JointDenseTrajectory\"", json);
|
||||||
Assert.Contains("\"usedCache\":true", json);
|
Assert.Contains("\"usedCache\":true", json);
|
||||||
|
Assert.Contains("\"triggerSampleIndexOffsetCycles\":7", json);
|
||||||
|
Assert.Contains("\"referenceJointsDegrees\":[12.5,-3]", json);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证触发绑定允许在最佳 sample 基础上继续向后偏移固定命令周期。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void TriggerSampleBinder_Bind_AppliesConfiguredSampleIndexOffset()
|
||||||
|
{
|
||||||
|
var trigger = new TrajectoryDoEvent(
|
||||||
|
waypointIndex: 1,
|
||||||
|
triggerTime: 0.008,
|
||||||
|
offsetCycles: 0,
|
||||||
|
holdCycles: 2,
|
||||||
|
addressGroup: new IoAddressGroup([2, 4]),
|
||||||
|
referenceJointsDegrees: [10.0, 20.0]);
|
||||||
|
var samples = new[]
|
||||||
|
{
|
||||||
|
new J519SendSample(sampleIndex: 0, sendTime: 0.0, trajectoryTime: 0.0, speedRatio: 1.0, jointsDegrees: [0.0, 0.0]),
|
||||||
|
new J519SendSample(sampleIndex: 1, sendTime: 0.008, trajectoryTime: 0.008, speedRatio: 1.0, jointsDegrees: [10.0, 20.0]),
|
||||||
|
new J519SendSample(sampleIndex: 2, sendTime: 0.016, trajectoryTime: 0.016, speedRatio: 1.0, jointsDegrees: [11.0, 21.0]),
|
||||||
|
new J519SendSample(sampleIndex: 3, sendTime: 0.024, trajectoryTime: 0.024, speedRatio: 1.0, jointsDegrees: [12.0, 22.0])
|
||||||
|
};
|
||||||
|
|
||||||
|
var binding = Assert.Single(Flyshot.Core.Planning.Sampling.TriggerSampleBinder.Bind([trigger], samples, sampleIndexOffsetCycles: 2));
|
||||||
|
|
||||||
|
Assert.True(binding.FoundInWindow);
|
||||||
|
Assert.Equal(3, binding.SampleIndex);
|
||||||
|
Assert.Equal(0.024, binding.Sample.SendTime, precision: 6);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
|
|||||||
@@ -99,7 +99,7 @@ public sealed class FanucCommandClientTests : IDisposable
|
|||||||
{
|
{
|
||||||
using var client = new FanucCommandClient();
|
using var client = new FanucCommandClient();
|
||||||
var expectedFrame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, "RVBUSTSM");
|
var expectedFrame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, "RVBUSTSM");
|
||||||
var responseFrame = Convert.FromHexString("646f7a000000160000200300000000000000017a6f64");
|
var responseFrame = Convert.FromHexString("646f7a000000160000200300000001000000007a6f64");
|
||||||
var handlerTask = RunSingleResponseControllerAsync(expectedFrame, responseFrame, _cts.Token);
|
var handlerTask = RunSingleResponseControllerAsync(expectedFrame, responseFrame, _cts.Token);
|
||||||
|
|
||||||
await client.ConnectAsync("127.0.0.1", Port, _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));
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -2,6 +2,7 @@ using System.Buffers.Binary;
|
|||||||
using System.Net;
|
using System.Net;
|
||||||
using System.Net.Sockets;
|
using System.Net.Sockets;
|
||||||
using Flyshot.Runtime.Fanuc.Protocol;
|
using Flyshot.Runtime.Fanuc.Protocol;
|
||||||
|
using Microsoft.Extensions.Logging;
|
||||||
|
|
||||||
namespace Flyshot.Core.Tests;
|
namespace Flyshot.Core.Tests;
|
||||||
|
|
||||||
@@ -162,6 +163,51 @@ public sealed class FanucJ519ClientTests : IDisposable
|
|||||||
await client.StopMotionAsync(_cts.Token);
|
await client.StopMotionAsync(_cts.Token);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证直角坐标命令会把 Data format 写为 0，并按通用目标槽位写入 X/Y/Z/W/P/R。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void PackCommandPacket_WritesCartesianDataFormatAndTargetValues()
|
||||||
|
{
|
||||||
|
var command = new FanucJ519Command(
|
||||||
|
sequence: 7,
|
||||||
|
targetValues: [100.0, 200.0, 300.0, 1.0, 2.0, 3.0, 0.0, 0.0, 0.0],
|
||||||
|
dataStyle: 0);
|
||||||
|
|
||||||
|
var packet = FanucJ519Protocol.PackCommandPacket(command);
|
||||||
|
|
||||||
|
Assert.Equal(0, packet[0x12]);
|
||||||
|
Assert.Equal(100.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)));
|
||||||
|
Assert.Equal(200.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x20, 4)));
|
||||||
|
Assert.Equal(300.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x24, 4)));
|
||||||
|
Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x28, 4)));
|
||||||
|
Assert.Equal(2.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x2c, 4)));
|
||||||
|
Assert.Equal(3.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x30, 4)));
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
@@ -193,6 +239,46 @@ public sealed class FanucJ519ClientTests : IDisposable
|
|||||||
Assert.All(packets, packet => Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)), precision: 6));
|
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>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
@@ -233,6 +319,61 @@ public sealed class FanucJ519ClientTests : IDisposable
|
|||||||
await client.StopMotionAsync(_cts.Token);
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 验证在连接前调用 StartMotion 会抛出 InvalidOperationException。
|
/// 验证在连接前调用 StartMotion 会抛出 InvalidOperationException。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
@@ -287,16 +428,119 @@ public sealed class FanucJ519ClientTests : IDisposable
|
|||||||
});
|
});
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <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>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
private async Task SendStatusPacketAsync(IPEndPoint clientEndpoint, uint sequence)
|
private async Task SendStatusPacketAsync(
|
||||||
|
IPEndPoint clientEndpoint,
|
||||||
|
uint sequence,
|
||||||
|
IReadOnlyList<double>? jointDegrees = null)
|
||||||
{
|
{
|
||||||
var responsePacket = new byte[FanucJ519Protocol.ResponsePacketLength];
|
var responsePacket = new byte[FanucJ519Protocol.ResponsePacketLength];
|
||||||
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x00, 4), 0);
|
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x00, 4), 0);
|
||||||
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x04, 4), 1);
|
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x04, 4), 1);
|
||||||
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x08, 4), sequence);
|
BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x08, 4), sequence);
|
||||||
responsePacket[0x0c] = 15;
|
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);
|
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(
|
var stopResponse = FanucCommandProtocol.ParseResultResponse(
|
||||||
Convert.FromHexString("646f7a0000001200002103000000007a6f64"));
|
Convert.FromHexString("646f7a0000001200002103000000007a6f64"));
|
||||||
var statusResponse = FanucCommandProtocol.ParseProgramStatusResponse(
|
var statusResponse = FanucCommandProtocol.ParseProgramStatusResponse(
|
||||||
Convert.FromHexString("646f7a000000160000200300000000000000017a6f64"));
|
Convert.FromHexString("646f7a000000160000200300000001000000007a6f64"));
|
||||||
|
|
||||||
Assert.Equal(FanucCommandMessageIds.StopProgram, stopResponse.MessageId);
|
Assert.Equal(FanucCommandMessageIds.StopProgram, stopResponse.MessageId);
|
||||||
Assert.True(stopResponse.IsSuccess);
|
Assert.True(stopResponse.IsSuccess);
|
||||||
@@ -183,6 +183,24 @@ public sealed class FanucProtocolTests
|
|||||||
Assert.Equal(0.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x38, 4)));
|
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>
|
/// <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。
|
/// 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>
|
/// </summary>
|
||||||
|
|||||||
233
tests/Flyshot.Core.Tests/J519SendTrajectorySamplerTests.cs
Normal file
233
tests/Flyshot.Core.Tests/J519SendTrajectorySamplerTests.cs
Normal file
@@ -0,0 +1,233 @@
|
|||||||
|
using Flyshot.Core.Planning.Sampling;
|
||||||
|
using Flyshot.Core.Domain;
|
||||||
|
using Flyshot.Core.Planning;
|
||||||
|
|
||||||
|
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>
|
||||||
|
/// 验证飞拍 speed_ratio 安全队列从连续规划样条直接采样，而不是先把规划轨迹离散成稠密点后再线性插值。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void SamplePlannedTrajectory_DirectlyEvaluatesContinuousSplineForSpeedRatio()
|
||||||
|
{
|
||||||
|
var trajectory = CreateSingleJointTrajectory();
|
||||||
|
|
||||||
|
var samples = J519SendTrajectorySampler.SamplePlannedTrajectory(
|
||||||
|
trajectory,
|
||||||
|
servoPeriodSeconds: 0.008,
|
||||||
|
speedRatio: 0.5);
|
||||||
|
|
||||||
|
var sample = Assert.Single(samples.Where(static item => Math.Abs(item.TrajectoryTime - 0.004) < 1e-9));
|
||||||
|
Assert.Equal(0.008, sample.SendTime, precision: 6);
|
||||||
|
Assert.Equal(0.004, sample.TrajectoryTime, precision: 6);
|
||||||
|
Assert.NotEqual(45.0, sample.JointsDegrees[0], precision: 3);
|
||||||
|
|
||||||
|
var expected = new CubicSplineInterpolator(
|
||||||
|
trajectory.WaypointTimes.ToArray(),
|
||||||
|
trajectory.PlannedWaypoints.Select(static waypoint => waypoint.Positions.ToArray()).ToArray())
|
||||||
|
.Evaluate(0.004)[0] * 180.0 / Math.PI;
|
||||||
|
Assert.Equal(expected, sample.JointsDegrees[0], precision: 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证 speed_ratio 等价于执行侧时间轴拉长：原轨迹 0.8 倍执行应与时间整体拉长 1/0.8 的轨迹 1 倍执行一致。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void SamplePlannedTrajectory_SpeedRatioMatchesUniformPlanningTimeStretch()
|
||||||
|
{
|
||||||
|
var trajectory = CreateSingleJointTrajectory();
|
||||||
|
var stretchedTrajectory = StretchTrajectoryTime(trajectory, stretchFactor: 1.0 / 0.8);
|
||||||
|
|
||||||
|
var ratioSamples = J519SendTrajectorySampler.SamplePlannedTrajectory(
|
||||||
|
trajectory,
|
||||||
|
servoPeriodSeconds: 0.008,
|
||||||
|
speedRatio: 0.8);
|
||||||
|
var stretchedSamples = J519SendTrajectorySampler.SamplePlannedTrajectory(
|
||||||
|
stretchedTrajectory,
|
||||||
|
servoPeriodSeconds: 0.008,
|
||||||
|
speedRatio: 1.0);
|
||||||
|
|
||||||
|
Assert.Equal(stretchedSamples.Count, ratioSamples.Count);
|
||||||
|
for (var index = 0; index < ratioSamples.Count; index++)
|
||||||
|
{
|
||||||
|
Assert.Equal(stretchedSamples[index].SendTime, ratioSamples[index].SendTime, precision: 6);
|
||||||
|
Assert.Equal(stretchedSamples[index].TrajectoryTime * 0.8, ratioSamples[index].TrajectoryTime, precision: 6);
|
||||||
|
Assert.Equal(stretchedSamples[index].JointsDegrees[0], ratioSamples[index].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);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证倍率诊断行在保留旧 4 列的同时追加请求倍率和历史改写次数。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void BuildTimingRow_WithRatioDiagnostics_AppendsRequestedRatioAndIterationCount()
|
||||||
|
{
|
||||||
|
var sample = new J519SendSample(
|
||||||
|
sampleIndex: 2,
|
||||||
|
sendTime: 0.016,
|
||||||
|
trajectoryTime: 0.0076,
|
||||||
|
speedRatio: 0.475,
|
||||||
|
jointsDegrees: [90.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
|
||||||
|
|
||||||
|
var row = J519SendTrajectorySampler.BuildTimingRow(
|
||||||
|
sample,
|
||||||
|
requestedSpeedRatio: 0.5,
|
||||||
|
stretchIterationCount: 1);
|
||||||
|
|
||||||
|
Assert.Equal([2.0, 0.016, 0.0076, 0.475, 0.5, 1.0], row);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 构造一个最小单关节规划轨迹，便于验证 speed_ratio 直接样条采样语义。
|
||||||
|
/// </summary>
|
||||||
|
private static PlannedTrajectory CreateSingleJointTrajectory()
|
||||||
|
{
|
||||||
|
var robot = new RobotProfile(
|
||||||
|
name: "TestRobot",
|
||||||
|
modelPath: "Models/Test.robot",
|
||||||
|
degreesOfFreedom: 1,
|
||||||
|
jointLimits: [new JointLimit("J1", 100.0, 1000.0, 10000.0)],
|
||||||
|
jointCouplings: Array.Empty<JointCoupling>(),
|
||||||
|
servoPeriod: TimeSpan.FromMilliseconds(8),
|
||||||
|
triggerPeriod: TimeSpan.FromMilliseconds(8));
|
||||||
|
var program = new FlyshotProgram(
|
||||||
|
name: "spline-sample",
|
||||||
|
waypoints:
|
||||||
|
[
|
||||||
|
new JointWaypoint([0.0]),
|
||||||
|
new JointWaypoint([Math.PI / 2.0]),
|
||||||
|
new JointWaypoint([Math.PI])
|
||||||
|
],
|
||||||
|
shotFlags: [false, false, false],
|
||||||
|
offsetValues: [0, 0, 0],
|
||||||
|
addressGroups:
|
||||||
|
[
|
||||||
|
new IoAddressGroup(Array.Empty<int>()),
|
||||||
|
new IoAddressGroup(Array.Empty<int>()),
|
||||||
|
new IoAddressGroup(Array.Empty<int>())
|
||||||
|
]);
|
||||||
|
|
||||||
|
return new PlannedTrajectory(
|
||||||
|
robot: robot,
|
||||||
|
originalProgram: program,
|
||||||
|
plannedWaypoints: program.Waypoints,
|
||||||
|
waypointTimes: [0.0, 0.008, 0.016],
|
||||||
|
segmentDurations: [0.008, 0.008],
|
||||||
|
segmentScales: [1.0, 1.0],
|
||||||
|
method: PlanningMethod.Icsp,
|
||||||
|
iterations: 1,
|
||||||
|
threshold: 0.0);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 构造统一拉长时间轴后的轨迹，模拟更低 planning_speed_scale 生成的等几何时间结果。
|
||||||
|
/// </summary>
|
||||||
|
private static PlannedTrajectory StretchTrajectoryTime(PlannedTrajectory trajectory, double stretchFactor)
|
||||||
|
{
|
||||||
|
return new PlannedTrajectory(
|
||||||
|
robot: trajectory.Robot,
|
||||||
|
originalProgram: trajectory.OriginalProgram,
|
||||||
|
plannedWaypoints: trajectory.PlannedWaypoints,
|
||||||
|
waypointTimes: trajectory.WaypointTimes.Select(time => time * stretchFactor).ToArray(),
|
||||||
|
segmentDurations: trajectory.SegmentDurations.Select(duration => duration * stretchFactor).ToArray(),
|
||||||
|
segmentScales: trajectory.SegmentScales.Select(scale => scale / stretchFactor).ToArray(),
|
||||||
|
method: trajectory.Method,
|
||||||
|
iterations: trajectory.Iterations,
|
||||||
|
threshold: trajectory.Threshold);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -2,7 +2,6 @@ using Flyshot.Core.Config;
|
|||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
using Flyshot.Core.Planning;
|
using Flyshot.Core.Planning;
|
||||||
using Flyshot.Core.Planning.Export;
|
using Flyshot.Core.Planning.Export;
|
||||||
using Flyshot.Core.Planning.Kinematics;
|
|
||||||
using Flyshot.Core.Planning.Sampling;
|
using Flyshot.Core.Planning.Sampling;
|
||||||
using Flyshot.Core.Triggering;
|
using Flyshot.Core.Triggering;
|
||||||
using Xunit.Abstractions;
|
using Xunit.Abstractions;
|
||||||
@@ -24,12 +23,11 @@ public sealed class OfflinePlanTests
|
|||||||
/// 使用预设参数生成离线轨迹，输出到 analysis/output/dotnet/。
|
/// 使用预设参数生成离线轨迹，输出到 analysis/output/dotnet/。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[Theory]
|
[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", "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/EOL9 EAU 90/eol9_eau_90.json", "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/EOL10_EAU_0/EOL10_EAU_0.json", "EOL10_EAU_0", false, 1.0)]
|
||||||
public void GenerateTrajectory_MatchesPythonDemo(
|
public void GenerateTrajectory_MatchesPythonDemo(
|
||||||
string configPath,
|
string configPath,
|
||||||
string robotModelPath,
|
|
||||||
string trajName,
|
string trajName,
|
||||||
bool useSelfAdapt,
|
bool useSelfAdapt,
|
||||||
double speedRatio)
|
double speedRatio)
|
||||||
@@ -42,9 +40,13 @@ public sealed class OfflinePlanTests
|
|||||||
// 1. 加载配置和模型。
|
// 1. 加载配置和模型。
|
||||||
var loadedConfig = new RobotConfigLoader().Load(resolvedConfigPath, repoRoot: workspaceRoot);
|
var loadedConfig = new RobotConfigLoader().Load(resolvedConfigPath, repoRoot: workspaceRoot);
|
||||||
var program = loadedConfig.Programs[trajName];
|
var program = loadedConfig.Programs[trajName];
|
||||||
var resolvedRobotModelPath = Path.Combine(workspaceRoot, robotModelPath);
|
var resolvedRobotModelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "Models", "LR_Mate_200iD_7L.json");
|
||||||
var baseProfile = new RobotModelLoader().LoadProfile(resolvedRobotModelPath, loadedConfig.Robot.AccLimitScale, loadedConfig.Robot.JerkLimitScale);
|
var loadedModel = new RobotModelLoader().LoadProfileAndKinematics(
|
||||||
var kinematicsModel = new RobotModelLoader().LoadKinematicsModel(resolvedRobotModelPath);
|
resolvedRobotModelPath,
|
||||||
|
loadedConfig.Robot.AccLimitScale,
|
||||||
|
loadedConfig.Robot.JerkLimitScale);
|
||||||
|
var baseProfile = loadedModel.Profile;
|
||||||
|
var kinematicsModel = loadedModel.KinematicsModel;
|
||||||
|
|
||||||
// 2. 应用 speed_ratio 缩放。
|
// 2. 应用 speed_ratio 缩放。
|
||||||
var scaledProfile = ScaleRobotProfile(baseProfile, speedRatio);
|
var scaledProfile = ScaleRobotProfile(baseProfile, speedRatio);
|
||||||
|
|||||||
@@ -1,6 +1,7 @@
|
|||||||
using Flyshot.Core.Config;
|
using Flyshot.Core.Config;
|
||||||
using Flyshot.Core.Domain;
|
using Flyshot.Core.Domain;
|
||||||
using Flyshot.Core.Planning;
|
using Flyshot.Core.Planning;
|
||||||
|
using Flyshot.Core.Planning.Sampling;
|
||||||
using Flyshot.Core.Triggering;
|
using Flyshot.Core.Triggering;
|
||||||
|
|
||||||
namespace Flyshot.Core.Tests;
|
namespace Flyshot.Core.Tests;
|
||||||
@@ -66,7 +67,7 @@ public sealed class PlanningCompatibilityTests
|
|||||||
{
|
{
|
||||||
var workspaceRoot = GetWorkspaceRoot();
|
var workspaceRoot = GetWorkspaceRoot();
|
||||||
var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL9 EAU 90", "eol9_eau_90.json");
|
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", "Models", "LR_Mate_200iD_7L.json");
|
||||||
|
|
||||||
var config = new RobotConfigLoader().Load(configPath);
|
var config = new RobotConfigLoader().Load(configPath);
|
||||||
var baseProfile = new RobotModelLoader().LoadProfile(modelPath, config.Robot.AccLimitScale, config.Robot.JerkLimitScale);
|
var baseProfile = new RobotModelLoader().LoadProfile(modelPath, config.Robot.AccLimitScale, config.Robot.JerkLimitScale);
|
||||||
@@ -169,6 +170,241 @@ public sealed class PlanningCompatibilityTests
|
|||||||
Assert.Equal(1, doEvent.WaypointIndex);
|
Assert.Equal(1, doEvent.WaypointIndex);
|
||||||
Assert.Equal(1, doEvent.OffsetCycles);
|
Assert.Equal(1, doEvent.OffsetCycles);
|
||||||
Assert.Equal(2, doEvent.HoldCycles);
|
Assert.Equal(2, doEvent.HoldCycles);
|
||||||
|
Assert.NotNull(doEvent.ReferenceJointsDegrees);
|
||||||
|
Assert.Equal(RadiansToDegrees(1.0), doEvent.ReferenceJointsDegrees![0], precision: 6);
|
||||||
|
Assert.Equal(0.0, doEvent.ReferenceJointsDegrees![1], precision: 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证时间轴会把示教点关节角保存到 DO 事件里，供运行时在近时窗内做最小关节差绑定。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void ShotTimelineBuilder_PopulatesReferenceJointsDegreesForRuntimeBinding()
|
||||||
|
{
|
||||||
|
var robot = CreateRobotProfile([1, 1], [1, 1], [1, 1]);
|
||||||
|
var program = new FlyshotProgram(
|
||||||
|
name: "demo",
|
||||||
|
waypoints:
|
||||||
|
[
|
||||||
|
new JointWaypoint([0.0, 0.0]),
|
||||||
|
new JointWaypoint([Math.PI / 6.0, -Math.PI / 4.0])
|
||||||
|
],
|
||||||
|
shotFlags: [false, true],
|
||||||
|
offsetValues: [0, 0],
|
||||||
|
addressGroups:
|
||||||
|
[
|
||||||
|
new IoAddressGroup(Array.Empty<int>()),
|
||||||
|
new IoAddressGroup([1])
|
||||||
|
]);
|
||||||
|
|
||||||
|
var trajectory = new PlannedTrajectory(
|
||||||
|
robot: robot,
|
||||||
|
originalProgram: program,
|
||||||
|
plannedWaypoints: program.Waypoints,
|
||||||
|
waypointTimes: [0.0, 0.5],
|
||||||
|
segmentDurations: [0.5],
|
||||||
|
segmentScales: [1.0],
|
||||||
|
method: PlanningMethod.Icsp,
|
||||||
|
iterations: 1,
|
||||||
|
threshold: 0.0);
|
||||||
|
|
||||||
|
var timeline = new ShotTimelineBuilder(new WaypointTimestampResolver())
|
||||||
|
.Build(trajectory, holdCycles: 1, samplePeriod: TimeSpan.FromMilliseconds(8));
|
||||||
|
|
||||||
|
var trigger = Assert.Single(timeline.TriggerTimeline);
|
||||||
|
Assert.NotNull(trigger.ReferenceJointsDegrees);
|
||||||
|
Assert.Equal(30.0, trigger.ReferenceJointsDegrees![0], precision: 6);
|
||||||
|
Assert.Equal(-45.0, trigger.ReferenceJointsDegrees![1], precision: 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <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>
|
||||||
|
/// 验证飞拍链路临时关闭 jerk 复核时，仍保留速度/加速度校验，但不会再被 jerk 单独阻断。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void TrajectoryLimitValidator_CanSkipJerkValidation_ForFlyshotPath()
|
||||||
|
{
|
||||||
|
var robot = CreateRobotProfile([100.0], [1000.0], [10.0]);
|
||||||
|
IReadOnlyList<IReadOnlyList<double>> rows =
|
||||||
|
[
|
||||||
|
[0.0, 0.0],
|
||||||
|
[0.008, 0.0],
|
||||||
|
[0.016, 0.01],
|
||||||
|
[0.024, 0.02]
|
||||||
|
];
|
||||||
|
|
||||||
|
var exception = Assert.Throws<InvalidOperationException>(() =>
|
||||||
|
TrajectoryLimitValidator.ValidateDenseJointTrajectory(
|
||||||
|
robot,
|
||||||
|
rows,
|
||||||
|
trajectoryName: "dense-jerk-check"));
|
||||||
|
|
||||||
|
Assert.Contains("Jerk", exception.Message);
|
||||||
|
|
||||||
|
TrajectoryLimitValidator.ValidateDenseJointTrajectory(
|
||||||
|
robot,
|
||||||
|
rows,
|
||||||
|
trajectoryName: "dense-jerk-check-skip",
|
||||||
|
validateJerk: false);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证飞拍最终 J519 队列的 jerk 硬约束使用严格限值，不再沿用历史上放大 4 倍的宽容口径。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void TrajectoryLimitValidator_ThrowsForJ519Jerk_WhenStrictFinalQueueValidationIsEnabled()
|
||||||
|
{
|
||||||
|
var robot = CreateRobotProfile([100.0], [1000.0], [100.0]);
|
||||||
|
var samples = new[]
|
||||||
|
{
|
||||||
|
new J519SendSample(0, 0.000, 0.000, 1.0, [0.0]),
|
||||||
|
new J519SendSample(1, 0.008, 0.008, 1.0, [0.0]),
|
||||||
|
new J519SendSample(2, 0.016, 0.016, 1.0, [0.003754]),
|
||||||
|
new J519SendSample(3, 0.024, 0.024, 1.0, [0.007508])
|
||||||
|
};
|
||||||
|
|
||||||
|
var exception = Assert.Throws<InvalidOperationException>(() =>
|
||||||
|
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||||
|
robot,
|
||||||
|
samples,
|
||||||
|
trajectoryName: "strict-final-j519",
|
||||||
|
validateJerk: true));
|
||||||
|
|
||||||
|
Assert.Contains("Jerk", exception.Message);
|
||||||
|
Assert.Contains("strict-final-j519", exception.Message);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证飞拍最终发送队列在请求倍率下严格 jerk 超限时直接拒绝执行，而不是自动改写 speed_ratio。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void FlyshotExecutionSendSequenceBuilder_ThrowsInsteadOfRewritingRequestedSpeedRatio()
|
||||||
|
{
|
||||||
|
var robot = CreateRobotProfile([100.0], [10000.0], [800.0]);
|
||||||
|
var program = CreateProgram(
|
||||||
|
[
|
||||||
|
[0.0],
|
||||||
|
[0.001]
|
||||||
|
]);
|
||||||
|
var trajectory = new PlannedTrajectory(
|
||||||
|
robot: robot,
|
||||||
|
originalProgram: program,
|
||||||
|
plannedWaypoints: program.Waypoints,
|
||||||
|
waypointTimes: [0.0, 0.024],
|
||||||
|
segmentDurations: [0.024],
|
||||||
|
segmentScales: [1.0],
|
||||||
|
method: PlanningMethod.Icsp,
|
||||||
|
iterations: 1,
|
||||||
|
threshold: 0.0);
|
||||||
|
var result = new TrajectoryResult(
|
||||||
|
programName: "strict-builder",
|
||||||
|
method: PlanningMethod.Icsp,
|
||||||
|
isValid: true,
|
||||||
|
duration: TimeSpan.FromSeconds(0.024),
|
||||||
|
shotEvents: Array.Empty<ShotEvent>(),
|
||||||
|
triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
|
||||||
|
artifacts: Array.Empty<TrajectoryArtifact>(),
|
||||||
|
failureReason: null,
|
||||||
|
usedCache: false,
|
||||||
|
originalWaypointCount: 2,
|
||||||
|
plannedWaypointCount: 2);
|
||||||
|
var initialSamples = J519SendTrajectorySampler.SamplePlannedTrajectory(
|
||||||
|
trajectory,
|
||||||
|
servoPeriodSeconds: 0.008,
|
||||||
|
speedRatio: 1.0);
|
||||||
|
|
||||||
|
Assert.Throws<InvalidOperationException>(() =>
|
||||||
|
TrajectoryLimitValidator.ValidateJ519SendSamples(
|
||||||
|
robot,
|
||||||
|
initialSamples,
|
||||||
|
trajectoryName: "strict-builder-initial",
|
||||||
|
validateJerk: true));
|
||||||
|
|
||||||
|
var exception = Assert.Throws<InvalidOperationException>(() =>
|
||||||
|
FlyshotExecutionSendSequenceBuilder.Build(
|
||||||
|
robot,
|
||||||
|
trajectory,
|
||||||
|
result,
|
||||||
|
servoPeriodSeconds: 0.008,
|
||||||
|
requestedSpeedRatio: 1.0));
|
||||||
|
|
||||||
|
Assert.Contains("speed_ratio=1.000000", exception.Message);
|
||||||
|
Assert.Contains("planning_speed_scale", exception.Message);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证飞拍最终发送队列通过严格校验时，请求 speed_ratio 会原样成为最终倍率。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public void FlyshotExecutionSendSequenceBuilder_KeepsRequestedSpeedRatioWhenQueuePasses()
|
||||||
|
{
|
||||||
|
var robot = CreateRobotProfile([100.0], [10000.0], [10000.0]);
|
||||||
|
var program = CreateProgram(
|
||||||
|
[
|
||||||
|
[0.0],
|
||||||
|
[0.001]
|
||||||
|
]);
|
||||||
|
var trajectory = new PlannedTrajectory(
|
||||||
|
robot: robot,
|
||||||
|
originalProgram: program,
|
||||||
|
plannedWaypoints: program.Waypoints,
|
||||||
|
waypointTimes: [0.0, 0.024],
|
||||||
|
segmentDurations: [0.024],
|
||||||
|
segmentScales: [1.0],
|
||||||
|
method: PlanningMethod.Icsp,
|
||||||
|
iterations: 1,
|
||||||
|
threshold: 0.0);
|
||||||
|
var result = new TrajectoryResult(
|
||||||
|
programName: "rewrite-speedratio-builder",
|
||||||
|
method: PlanningMethod.Icsp,
|
||||||
|
isValid: true,
|
||||||
|
duration: TimeSpan.FromSeconds(0.024),
|
||||||
|
shotEvents: Array.Empty<ShotEvent>(),
|
||||||
|
triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
|
||||||
|
artifacts: Array.Empty<TrajectoryArtifact>(),
|
||||||
|
failureReason: null,
|
||||||
|
usedCache: false,
|
||||||
|
originalWaypointCount: 2,
|
||||||
|
plannedWaypointCount: 2);
|
||||||
|
|
||||||
|
var prepared = FlyshotExecutionSendSequenceBuilder.Build(
|
||||||
|
robot,
|
||||||
|
trajectory,
|
||||||
|
result,
|
||||||
|
servoPeriodSeconds: 0.008,
|
||||||
|
requestedSpeedRatio: 0.8);
|
||||||
|
|
||||||
|
Assert.Equal(0.8, prepared.RequestSpeedRatio, precision: 6);
|
||||||
|
Assert.Equal(0.8, prepared.FinalSpeedRatio, precision: 6);
|
||||||
|
Assert.Equal(0, prepared.StretchIterationCount);
|
||||||
|
Assert.All(prepared.Samples, sample => Assert.Equal(0.8, sample.SpeedRatio, precision: 6));
|
||||||
|
Assert.All(prepared.TimingRows, row =>
|
||||||
|
{
|
||||||
|
Assert.Equal(0.8, row[3], precision: 6);
|
||||||
|
Assert.Equal(0.8, row[4], precision: 6);
|
||||||
|
Assert.Equal(0.0, row[5], precision: 6);
|
||||||
|
});
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -248,4 +484,9 @@ public sealed class PlanningCompatibilityTests
|
|||||||
|
|
||||||
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
|
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
private static double RadiansToDegrees(double radians)
|
||||||
|
{
|
||||||
|
return radians * 180.0 / Math.PI;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@@ -44,6 +44,28 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
|
|||||||
Assert.Contains("/api/debug/config", script, StringComparison.Ordinal);
|
Assert.Contains("/api/debug/config", script, StringComparison.Ordinal);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 调试页应当为 MovePose 提供可直接发送的六字段请求体模板。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public async Task GetDebugScript_ContainsMovePoseRequestSample()
|
||||||
|
{
|
||||||
|
using var configuredFactory = CreateFactoryWithSwaggerEnabled(true);
|
||||||
|
using var client = configuredFactory.CreateClient();
|
||||||
|
|
||||||
|
using var scriptResponse = await client.GetAsync("/assets/debug.js");
|
||||||
|
Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
|
||||||
|
|
||||||
|
var script = await scriptResponse.Content.ReadAsStringAsync();
|
||||||
|
Assert.Contains("/move_pose/", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("x: 100.0", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("y: 200.0", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("z: 300.0", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("w: 0.0", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("p: 45.0", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("r: 0.0", script, StringComparison.Ordinal);
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 当 Swagger 启用时，调试配置 API 应当返回实际 Swagger JSON 地址。
|
/// 当 Swagger 启用时，调试配置 API 应当返回实际 Swagger JSON 地址。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
|||||||
@@ -1,5 +1,6 @@
|
|||||||
using System.Net;
|
using System.Net;
|
||||||
using System.Net.Http.Json;
|
using System.Net.Http.Json;
|
||||||
|
using System.Text;
|
||||||
using System.Text.Json;
|
using System.Text.Json;
|
||||||
|
|
||||||
namespace Flyshot.Server.IntegrationTests;
|
namespace Flyshot.Server.IntegrationTests;
|
||||||
@@ -131,6 +132,13 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
|
|||||||
Assert.Equal("robot moved", moveJointJson.RootElement.GetProperty("status").GetString());
|
Assert.Equal("robot moved", moveJointJson.RootElement.GetProperty("status").GetString());
|
||||||
}
|
}
|
||||||
|
|
||||||
|
using (var movePoseResponse = await client.PostAsJsonAsync("/move_pose/", new { x = 100.0, y = 200.0, z = 300.0, w = 1.0, p = 2.0, r = 3.0 }))
|
||||||
|
{
|
||||||
|
Assert.Equal(HttpStatusCode.OK, movePoseResponse.StatusCode);
|
||||||
|
using var movePoseJson = await ReadJsonAsync(movePoseResponse);
|
||||||
|
Assert.Equal("robot moved", movePoseJson.RootElement.GetProperty("status").GetString());
|
||||||
|
}
|
||||||
|
|
||||||
using (var getJointPositionResponse = await client.GetAsync("/get_joint_position/"))
|
using (var getJointPositionResponse = await client.GetAsync("/get_joint_position/"))
|
||||||
{
|
{
|
||||||
Assert.Equal(HttpStatusCode.OK, getJointPositionResponse.StatusCode);
|
Assert.Equal(HttpStatusCode.OK, getJointPositionResponse.StatusCode);
|
||||||
@@ -165,6 +173,32 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 验证 MovePose 请求必须显式提供六个有限直角坐标字段，避免缺字段被模型绑定静默补 0。
|
||||||
|
/// </summary>
|
||||||
|
[Theory]
|
||||||
|
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":2.0}""")]
|
||||||
|
[InlineData("null")]
|
||||||
|
[InlineData("""{"x":1e999,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
|
||||||
|
[InlineData("""{"x":1000.1,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
|
||||||
|
[InlineData("""{"x":100.0,"y":-1000.1,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
|
||||||
|
[InlineData("""{"x":100.0,"y":200.0,"z":-0.1,"w":1.0,"p":2.0,"r":3.0}""")]
|
||||||
|
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":-180.1,"p":2.0,"r":3.0}""")]
|
||||||
|
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":90.1,"r":3.0}""")]
|
||||||
|
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":180.1}""")]
|
||||||
|
public async Task MovePose_InvalidPayload_ReturnsLegacyBadRequest(string payload)
|
||||||
|
{
|
||||||
|
using var client = factory.CreateClient();
|
||||||
|
await InitializeRobotAsync(client);
|
||||||
|
|
||||||
|
using var content = new StringContent(payload, Encoding.UTF8, "application/json");
|
||||||
|
using var response = await client.PostAsync("/move_pose/", content);
|
||||||
|
|
||||||
|
Assert.Equal(HttpStatusCode.BadRequest, response.StatusCode);
|
||||||
|
using var json = await ReadJsonAsync(response);
|
||||||
|
Assert.Equal("MovePose failed", json.RootElement.GetProperty("detail").GetString());
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 验证飞拍 HTTP 接口可以按旧 API 层的路径和字段完成上传、列出、执行与删除。
|
/// 验证飞拍 HTTP 接口可以按旧 API 层的路径和字段完成上传、列出、执行与删除。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
|||||||
@@ -34,6 +34,60 @@ public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFi
|
|||||||
Assert.Contains("/api/status/snapshot", script, StringComparison.Ordinal);
|
Assert.Contains("/api/status/snapshot", script, StringComparison.Ordinal);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// 状态页应当提供双摇杆直角坐标点动面板，并复用现有 MovePose HTTP 接口。
|
||||||
|
/// </summary>
|
||||||
|
[Fact]
|
||||||
|
public async Task GetStatusPageAssets_ExposeCartesianJogControls()
|
||||||
|
{
|
||||||
|
using var client = factory.CreateClient();
|
||||||
|
|
||||||
|
using var htmlResponse = await client.GetAsync("/status.html");
|
||||||
|
Assert.Equal(HttpStatusCode.OK, htmlResponse.StatusCode);
|
||||||
|
|
||||||
|
var html = await htmlResponse.Content.ReadAsStringAsync();
|
||||||
|
Assert.Contains("直角坐标点动", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("XYZ 平移摇杆", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("WPR 姿态摇杆", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("id=\"linear-step\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("id=\"angular-step\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("max=\"20\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("请求日志", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("id=\"request-log\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("id=\"clear-log\"", html, StringComparison.Ordinal);
|
||||||
|
|
||||||
|
foreach (var (axis, negative, positive) in new[]
|
||||||
|
{
|
||||||
|
("x", "X-", "X+"),
|
||||||
|
("y", "Y-", "Y+"),
|
||||||
|
("z", "Z-", "Z+"),
|
||||||
|
("w", "W-", "W+"),
|
||||||
|
("p", "P-", "P+"),
|
||||||
|
("r", "R-", "R+")
|
||||||
|
})
|
||||||
|
{
|
||||||
|
Assert.Contains($"data-axis=\"{axis}\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains($"data-axis=\"{axis}\" data-direction=\"1\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains($"data-axis=\"{axis}\" data-direction=\"-1\"", html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains(negative, html, StringComparison.Ordinal);
|
||||||
|
Assert.Contains(positive, 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);
|
||||||
|
Assert.Contains("/move_pose/", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("cartesianPose", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("pointerdown", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("pointerup", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("pointerleave", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("blur", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("request-log", script, StringComparison.Ordinal);
|
||||||
|
Assert.Contains("clear-log", script, StringComparison.Ordinal);
|
||||||
|
}
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// 验证状态快照 API 会返回运行时连接、使能、速度和机器人元数据。
|
/// 验证状态快照 API 会返回运行时连接、使能、速度和机器人元数据。
|
||||||
/// </summary>
|
/// </summary>
|
||||||
|
|||||||
Reference in New Issue
Block a user