yunxiao.zhu
0724efebed
* 划分 J519 发送循环与稠密轨迹循环职责边界， FanucJ519Client 负责 UDP 周期发送， FanucControllerRuntime 按轨迹时间更新下一帧命令 * 执行时将规划输出 rad 转为 J519 deg 目标， 并按 speed_ratio 调整 8ms 发送时间尺度 * 补齐 accept_cmd/received_cmd/sysrdy/rbt_inmotion 状态位解析与启动前闭环检查 * MoveJoint 改为关节空间直线 + smoothstep 进度 的临时 PTP 稠密轨迹，按 status=15 运动窗口复现 * 新增 UTTC 2026-04-28 三份抓包 golden tests， 覆盖 0.5/0.7/1.0 speed_ratio 下的 J519 命令、 IO 脉冲与响应滞后 * 状态通道补充超时重连策略与退避逻辑 * TCP 10012 命令响应统一检查 result_code * 状态页扩展 J519 状态位与快照诊断信息 * 新增 docs/fanuc-field-runtime-workflow.md 现场工作流 * 补充 LR Mate 200iD 模型、RobotConfig.json 与 workpiece
44 lines
1.8 KiB
XML
44 lines
1.8 KiB
XML
<?xml version="1.0" encoding="utf-8" ?>
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<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
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xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"
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autoReload="true"
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throwExceptions="false"
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internalLogLevel="Off" >
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<!-- optional, add some variables
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https://github.com/nlog/NLog/wiki/Configuration-file#variables
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-->
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<variable name="myvar" value="myvalue"/>
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<!-- 环境变量配置：如果 ASPNETCORE_ENVIRONMENT 为空，则默认为 Development -->
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<variable name="env" value="${environment:ASPNETCORE_ENVIRONMENT:whenEmpty=Production}"/>
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<!--
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See https://github.com/nlog/nlog/wiki/Configuration-file
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for information on customizing logging rules and outputs.
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-->
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<target name="logfile" xsi:type="File"
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fileName="${basedir}/logs/${shortdate}.log"
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layout="${longdate}|${level:uppercase=true}|${message}"
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archiveFileName="${basedir}/logs/${shortdate}.{#}.log"
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archiveAboveSize="4048576"
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archiveNumbering="Sequence"
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maxArchiveFiles="50"
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concurrentWrites="true"
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keepFileOpen="false"
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encoding="utf-8" />
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<!--<target name="logfile" xsi:type="File" fileName="${basedir}/logs/${shortdate}.log" layout="${longdate}|${level:uppercase=true}|${logger}|${message}" />-->
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<target name="logconsole" xsi:type="Console" layout="${longdate}|${level:uppercase=true}|${message}" />
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</targets>
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<rules>
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<!-- 开发环境：显示控制台 + 详细文件，最低 Debug -->
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<logger name="*" minLevel="Debug" writeTo="logconsole,logfile" condition="equals('${var:env}','Development')" />
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<!-- 生产环境：仅文件+UI，最低 Info -->
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<logger name="*" minLevel="Info" writeTo="logfile" condition="not_equals('${var:env}','Development')" />
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</rules>
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</nlog>
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