yunxiao.zhu
af65ca03a0
- 为 ExecuteFlyShotTraj 补齐 wait 语义，并让 move_to_start 先完成临时 PTP 运动后再启动正式飞拍轨迹 - 将 J519 命令发送改为由机器人 UDP status sequence 驱动， 避免在未收到状态包时主动发周期命令 - 将 10010 状态通道关节字段统一按 JointRadians 命名， 同步更新运行时读取逻辑与协议测试 - 新增 FANUC 10010 状态帧、流运动手册和 Python client 逆向文档，并更新 README 与兼容需求说明 - 补充兼容层编排测试与 HTTP 集成测试，覆盖 wait 和 move_to_start 串行化行为
221 lines
11 KiB
C#
221 lines
11 KiB
C#
using System.Buffers.Binary;
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using Flyshot.Runtime.Fanuc.Protocol;
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namespace Flyshot.Core.Tests;
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/// <summary>
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/// 验证 FANUC 真机三条通信链路的二进制协议基础与逆向抓包样本一致。
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/// </summary>
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public sealed class FanucProtocolTests
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{
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/// <summary>
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/// 验证 TCP 10012 程序命令封包与抓包中的 StopProg("RVBUSTSM") 完全一致。
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/// </summary>
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[Fact]
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public void CommandProtocol_PacksCapturedStopProgramFrame()
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{
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var frame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.StopProgram, "RVBUSTSM");
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Assert.Equal(
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Convert.FromHexString("646f7a0000001a0000210300000008525642555354534d7a6f64"),
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frame);
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}
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/// <summary>
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/// 验证 TCP 10012 短响应和程序状态响应可以按抓包字段解析。
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/// </summary>
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[Fact]
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public void CommandProtocol_ParsesCapturedResponses()
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{
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var stopResponse = FanucCommandProtocol.ParseResultResponse(
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Convert.FromHexString("646f7a0000001200002103000000007a6f64"));
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var statusResponse = FanucCommandProtocol.ParseProgramStatusResponse(
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Convert.FromHexString("646f7a000000160000200300000000000000017a6f64"));
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Assert.Equal(FanucCommandMessageIds.StopProgram, stopResponse.MessageId);
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Assert.True(stopResponse.IsSuccess);
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Assert.Equal(FanucCommandMessageIds.GetProgramStatus, statusResponse.MessageId);
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Assert.True(statusResponse.IsSuccess);
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Assert.Equal(1u, statusResponse.ProgramStatus);
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}
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/// <summary>
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/// 验证 TCP 10012 的速度倍率、TCP 和 IO 请求体字段顺序与逆向文档一致。
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/// </summary>
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[Fact]
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public void CommandProtocol_PacksParameterCommandBodies()
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{
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var setTcpFrame = FanucCommandProtocol.PackSetTcpCommand(1, [1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0]);
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Assert.Equal(
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Convert.FromHexString("646f7a0000000e000022067a6f64"),
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FanucCommandProtocol.PackGetSpeedRatioCommand());
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Assert.Equal(
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Convert.FromHexString("646f7a0000001200002207000000507a6f64"),
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FanucCommandProtocol.PackSetSpeedRatioCommand(0.8));
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Assert.Equal(
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Convert.FromHexString("646f7a0000001200002200000000017a6f64"),
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FanucCommandProtocol.PackGetTcpCommand(1));
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Assert.Equal(
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Convert.FromHexString("646f7a000000160000220800000002000000077a6f64"),
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FanucCommandProtocol.PackGetIoCommand(FanucIoTypes.DigitalOutput, 7));
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Assert.Equal(
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Convert.FromHexString("646f7a0000001a0000220900000002000000073f8000007a6f64"),
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FanucCommandProtocol.PackSetIoCommand(FanucIoTypes.DigitalOutput, 7, true));
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Assert.Equal(FanucCommandMessageIds.SetTcp, BinaryPrimitives.ReadUInt32BigEndian(setTcpFrame.AsSpan(7, 4)));
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Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(setTcpFrame.AsSpan(11, 4)));
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Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(setTcpFrame.AsSpan(15, 4)));
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Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(setTcpFrame.AsSpan(39, 4)));
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}
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/// <summary>
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/// 验证 TCP 10012 参数响应解析使用各自不同的字段顺序。
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/// </summary>
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[Fact]
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public void CommandProtocol_ParsesParameterResponses()
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{
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var speedRatioResponse = FanucCommandProtocol.ParseSpeedRatioResponse(
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FanucCommandProtocol.PackFrame(
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FanucCommandMessageIds.GetSpeedRatio,
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Convert.FromHexString("0000005000000000")));
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var tcpResponse = FanucCommandProtocol.ParseTcpResponse(
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FanucCommandProtocol.PackFrame(
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FanucCommandMessageIds.GetTcp,
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Convert.FromHexString("00000000000000013f80000040000000404000000000000000000000000000003f800000")));
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var ioResponse = FanucCommandProtocol.ParseIoResponse(
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FanucCommandProtocol.PackFrame(
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FanucCommandMessageIds.GetIo,
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Convert.FromHexString("000000003f800000")));
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Assert.True(speedRatioResponse.IsSuccess);
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Assert.Equal(0.8, speedRatioResponse.Ratio, precision: 6);
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Assert.True(tcpResponse.IsSuccess);
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Assert.Equal(1u, tcpResponse.TcpId);
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Assert.Equal([1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0], tcpResponse.Pose);
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Assert.True(ioResponse.IsSuccess);
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Assert.True(ioResponse.Value);
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Assert.Equal(1.0, ioResponse.NumericValue, precision: 6);
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}
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/// <summary>
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/// 验证 TCP 10010 状态帧可以从抓包样本解析出尾部状态槽位。
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/// </summary>
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[Fact]
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public void StateProtocol_ParsesCapturedStateFrame()
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{
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var frame = FanucStateProtocol.ParseFrame(Convert.FromHexString(
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"646f7a0000005a000000004388a23243f1ed7f43e9de6bc265031ec2b33cc3c278e0153f8742f53c3f128dbc929529bc7861d63cb0184c3c1ca1a7000000000000000000000000000000020000000000000000000000017a6f64"));
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Assert.Equal(0u, frame.MessageId);
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Assert.Equal(6, frame.Pose.Count);
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Assert.Equal(9, frame.JointOrExtensionValues.Count);
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Assert.Equal([2u, 0u, 0u, 1u], frame.TailWords);
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Assert.Equal(frame.Pose, frame.CartesianPose);
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Assert.Equal(frame.JointOrExtensionValues.Take(6), frame.JointRadians);
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Assert.Equal(frame.JointOrExtensionValues.Skip(6), frame.ExternalAxes);
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Assert.Equal(frame.TailWords, frame.RawTailWords);
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Assert.Equal(2u, frame.StatusWord0);
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Assert.Equal(0u, frame.StatusWord1);
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Assert.Equal(0u, frame.StatusWord2);
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Assert.Equal(1u, frame.StatusWord3);
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}
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/// <summary>
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/// 验证 pcap 中多条唯一 TCP 10010 状态帧都符合固定 90B 布局。
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/// </summary>
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[Theory]
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[InlineData("646f7a0000005a0000000040eac85a43b2ef4043aba8e9421ed9c1c2828105c2ed981f3fbdbda0bed4764ebe92aacc3efd9f0a3f317ce9be5d4580000000000000000000000000000000020000000000000000000000017a6f64")]
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[InlineData("646f7a0000005a00000000415aab64440a5302439adef542b39739c293c441431d50423fcdb7003d862fe3beca5730bf60eab23f148e403f89269d000000000000000000000000000000020000000000000000000000017a6f64")]
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[InlineData("646f7a0000005a000000004221b6f9440b9ce043a129ac42b292bac29cba78431bddcb3fc743213d90268dbeba5351bf64bc1b3f0cbdf73f826864000000000000000000000000000000020000000000000000000000017a6f64")]
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public void StateProtocol_ParsesMultipleCapturedPcapFrames(string frameHex)
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{
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var frameBytes = Convert.FromHexString(frameHex);
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var frame = FanucStateProtocol.ParseFrame(frameBytes);
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Assert.Equal(FanucStateProtocol.StateFrameLength, frameBytes.Length);
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Assert.Equal(6, frame.CartesianPose.Count);
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Assert.Equal(6, frame.JointRadians.Count);
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Assert.Equal(3, frame.ExternalAxes.Count);
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Assert.Equal([2u, 0u, 0u, 1u], frame.RawTailWords);
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}
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/// <summary>
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/// 验证 TCP 10010 状态帧会拒绝损坏的长度和 magic，避免后台循环缓存坏帧。
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/// </summary>
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[Fact]
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public void StateProtocol_RejectsMalformedStateFrames()
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{
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var validFrame = Convert.FromHexString(
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"646f7a0000005a000000004388a23243f1ed7f43e9de6bc265031ec2b33cc3c278e0153f8742f53c3f128dbc929529bc7861d63cb0184c3c1ca1a7000000000000000000000000000000020000000000000000000000017a6f64");
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var wrongMagic = validFrame.ToArray();
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wrongMagic[0] = 0;
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var wrongLength = validFrame.ToArray();
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wrongLength[6] = 0x59;
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Assert.Throws<InvalidDataException>(() => FanucStateProtocol.ParseFrame(validFrame.AsSpan(0, validFrame.Length - 1)));
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Assert.Throws<InvalidDataException>(() => FanucStateProtocol.ParseFrame(wrongMagic));
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Assert.Throws<InvalidDataException>(() => FanucStateProtocol.ParseFrame(wrongLength));
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}
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/// <summary>
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/// 验证 UDP 60015 的 J519 初始化、结束和命令包字段布局。
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/// </summary>
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[Fact]
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public void J519Protocol_PacksControlAndCommandPackets()
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{
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var command = new FanucJ519Command(
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sequence: 2,
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targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
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var packet = FanucJ519Protocol.PackCommandPacket(command);
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Assert.Equal(Convert.FromHexString("0000000000000001"), FanucJ519Protocol.PackInitPacket());
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Assert.Equal(Convert.FromHexString("0000000200000001"), FanucJ519Protocol.PackEndPacket());
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Assert.Equal(FanucJ519Protocol.CommandPacketLength, packet.Length);
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Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x00, 4)));
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Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x04, 4)));
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Assert.Equal(2u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)));
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Assert.Equal(2, packet[0x0d]);
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Assert.Equal(1, packet[0x12]);
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Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)));
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Assert.Equal(6.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x30, 4)));
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Assert.Equal(0.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x38, 4)));
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void J519Protocol_ParsesResponsePacket()
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{
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var packet = new byte[FanucJ519Protocol.ResponsePacketLength];
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BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x00, 4), 0);
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BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x04, 4), 1);
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BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x08, 4), 12);
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packet[0x0c] = 15;
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packet[0x0d] = 2;
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BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x0e, 2), 1);
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BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x10, 2), 255);
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BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x12, 2), 10);
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BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x14, 4), 1234);
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BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x18, 4), 100.5f);
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BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x3c, 4), 1.25f);
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BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x60, 4), 2.5f);
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var response = FanucJ519Protocol.ParseResponse(packet);
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Assert.Equal(12u, response.Sequence);
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Assert.Equal(15, response.Status);
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Assert.True(response.AcceptsCommand);
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Assert.True(response.ReceivedCommand);
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Assert.True(response.SystemReady);
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Assert.True(response.RobotInMotion);
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Assert.Equal(10, response.ReadIoValue);
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Assert.Equal(1234u, response.Timestamp);
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Assert.Equal(100.5, response.Pose[0], precision: 6);
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Assert.Equal(1.25, response.JointDegrees[0], precision: 6);
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Assert.Equal(2.5, response.MotorCurrents[0], precision: 6);
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}
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}
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