yunxiao.zhu
390d066ece
* 新增飞拍轨迹文件存储，支持上传、加载与删除 * 接通 ControllerClientCompat 到运行时的轨迹编排 * 完善 FANUC 命令与 J519 客户端发送链路 * 补充密集轨迹执行、运行时编排和协议客户端测试 * 更新 README 与 AGENTS 中的当前实现状态
97 lines
3.5 KiB
C#
97 lines
3.5 KiB
C#
using Flyshot.Core.Domain;
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using Flyshot.Runtime.Fanuc;
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namespace Flyshot.Core.Tests;
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/// <summary>
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/// 验证 FANUC 控制器运行在稠密轨迹流式执行与 IO 触发上的行为。
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/// </summary>
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public sealed class FanucControllerRuntimeDenseTests
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{
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/// <summary>
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/// 验证仿真模式下即使传入稠密路点，也会回退到单点同步更新。
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/// </summary>
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[Fact]
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public void ExecuteTrajectory_WithDenseWaypoints_SimulationMode_FallsBackToSinglePoint()
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{
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var runtime = new FanucControllerRuntime();
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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runtime.SetActiveController(sim: true);
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runtime.Connect("192.168.10.101");
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runtime.EnableRobot(bufferSize: 2);
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var denseTrajectory = new[]
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{
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new[] { 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6 },
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new[] { 0.008, 0.11, 0.21, 0.31, 0.41, 0.51, 0.61 },
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new[] { 0.016, 0.12, 0.22, 0.32, 0.42, 0.52, 0.62 }
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};
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var result = new TrajectoryResult(
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programName: "demo",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(0.016),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 4,
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plannedWaypointCount: 4,
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denseJointTrajectory: denseTrajectory);
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runtime.ExecuteTrajectory(result, [0.12, 0.22, 0.32, 0.42, 0.52, 0.62]);
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var snapshot = runtime.GetSnapshot();
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Assert.False(snapshot.IsInMotion);
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Assert.Equal([0.12, 0.22, 0.32, 0.42, 0.52, 0.62], snapshot.JointPositions);
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}
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/// <summary>
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/// 验证 StopMove 在没有任何后台发送任务运行时不会抛出异常。
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/// </summary>
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[Fact]
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public void StopMove_DoesNotThrowWhenNoSendTaskRunning()
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{
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var runtime = new FanucControllerRuntime();
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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runtime.SetActiveController(sim: true);
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runtime.Connect("192.168.10.101");
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runtime.EnableRobot(bufferSize: 2);
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var exception = Record.Exception(() => runtime.StopMove());
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Assert.Null(exception);
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Assert.False(runtime.GetSnapshot().IsInMotion);
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}
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/// <summary>
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/// 验证 IO 地址组中的地址号被正确映射为 writeIoValue 的位掩码。
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/// </summary>
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[Theory]
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[InlineData(new[] { 0 }, (ushort)1)]
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[InlineData(new[] { 7 }, (ushort)128)]
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[InlineData(new[] { 7, 8 }, (ushort)384)] // 128 + 256
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[InlineData(new[] { 15 }, (ushort)32768)]
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[InlineData(new int[] { }, (ushort)0)]
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public void ComputeIoValue_MapsAddressesToBitMask(int[] addresses, ushort expected)
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{
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var group = new IoAddressGroup(addresses);
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var actual = FanucControllerRuntime.ComputeIoValue(group);
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Assert.Equal(expected, actual);
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}
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/// <summary>
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/// 验证超过 15 的地址号会被安全忽略，不会溢出位掩码。
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/// </summary>
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[Fact]
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public void ComputeIoValue_IgnoresOutOfRangeAddresses()
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{
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var group = new IoAddressGroup([0, 16, 7]);
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var actual = FanucControllerRuntime.ComputeIoValue(group);
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Assert.Equal((ushort)(1 | 128), actual);
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}
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}
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