xsxiaosa/FlyShotHost
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
74761bb5dacc411bd40127c69866d2bb162308e0
FlyShotHost/docs/camera-trigger-actual-offset-pcap-record-20260508.md
yunxiao.zhu f7e2bb0e7b ✨ feat(*): 添加触发样本偏移与实发轨迹分析导出 
* 为 RobotConfig 增加 trigger_sample_index_offset_cycles 配置
  * 让 DO 事件携带示教点关节角并按最接近 sample 绑定触发
  * 调整运行时 IO 地址位掩码映射并补充 ShotEvents 导出
  * 新增 2026042802-1 抓包分析脚本、数据产物与结论文档
  * 补齐配置兼容、规划绑定和运行时触发相关测试
2026-05-09 11:12:31 +08:00

12 KiB
Raw Blame History

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