yunxiao.zhu
f7e2bb0e7b
* 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
379 lines
14 KiB
C#
379 lines
14 KiB
C#
using Flyshot.Core.Config;
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namespace Flyshot.Core.Tests;
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/// <summary>
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/// 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。
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/// </summary>
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public sealed class ConfigCompatibilityTests
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{
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void RobotConfigLoader_LoadsLegacyRobotConfig_AndPreservesPrograms()
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{
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var workspaceRoot = GetWorkspaceRoot();
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var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "RobotConfig.json");
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var loaded = new RobotConfigLoader().Load(configPath);
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Assert.True(loaded.Robot.UseDo);
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Assert.Equal([7, 8], loaded.Robot.IoAddresses);
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Assert.Equal(2, loaded.Robot.IoKeepCycles);
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Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
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Assert.Equal(1.0, loaded.Robot.AccLimitScale);
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Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
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Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
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Assert.True(loaded.Robot.SmoothStartStopTiming);
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Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
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var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
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Assert.Equal("EOL10_EAU_0", program.Name);
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Assert.Equal(45, program.Waypoints.Count);
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Assert.Equal(42, program.ShotWaypointCount);
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Assert.Empty(program.AddressGroups[0].Addresses);
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Assert.Equal([4, 3], program.AddressGroups[1].Addresses);
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}
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/// <summary>
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/// 验证旧配置缺少 offset_values 和 addr 字段时，会自动回填与旧系统一致的默认值。
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/// </summary>
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[Fact]
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public void RobotConfigLoader_FillsLegacyDefaults_WhenOptionalFieldsAreMissing()
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{
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var tempRoot = CreateTempDirectory();
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try
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{
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var configPath = Path.Combine(tempRoot, "legacy.json");
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File.WriteAllText(
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configPath,
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"""
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{
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"robot": {
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"use_do": false,
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"io_keep_cycles": 3,
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"acc_limit": 0.5,
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"jerk_limit": 0.25
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},
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"flying_shots": {
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"demo": {
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"traj_waypoints": [[0, 1], [2, 3], [4, 5]],
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"shot_flags": [0, 1, 0]
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}
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}
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}
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""");
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var loaded = new RobotConfigLoader().Load(configPath);
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var program = Assert.Contains("demo", loaded.Programs);
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Assert.False(loaded.Robot.UseDo);
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Assert.Empty(loaded.Robot.IoAddresses);
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Assert.Equal(3, loaded.Robot.IoKeepCycles);
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Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
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Assert.Equal(0.5, loaded.Robot.AccLimitScale);
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Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
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Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
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Assert.True(loaded.Robot.SmoothStartStopTiming);
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Assert.Equal([0, 0, 0], program.OffsetValues);
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Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
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}
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finally
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{
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Directory.Delete(tempRoot, recursive: true);
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}
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void RobotConfigLoader_LoadsPlanningSpeedScale()
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{
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var tempRoot = CreateTempDirectory();
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try
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{
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var configPath = Path.Combine(tempRoot, "legacy.json");
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File.WriteAllText(
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configPath,
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"""
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{
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"robot": {
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"use_do": true,
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"io_keep_cycles": 2,
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"acc_limit": 1.0,
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"jerk_limit": 1.0,
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"planning_speed_scale": 0.742277
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},
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"flying_shots": {
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"demo": {
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"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
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"shot_flags": [false, false, false, false]
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}
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}
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}
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""");
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var loaded = new RobotConfigLoader().Load(configPath);
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Assert.Equal(0.742277, loaded.Robot.PlanningSpeedScale, precision: 6);
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}
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finally
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{
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Directory.Delete(tempRoot, recursive: true);
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}
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}
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/// <summary>
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/// 验证 RobotConfig.json 可以显式配置触发绑定后的命令 sample 后移周期数。
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/// </summary>
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[Fact]
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public void RobotConfigLoader_LoadsTriggerSampleIndexOffsetCycles()
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{
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var tempRoot = CreateTempDirectory();
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try
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{
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var configPath = Path.Combine(tempRoot, "legacy.json");
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File.WriteAllText(
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configPath,
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"""
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{
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"robot": {
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"use_do": true,
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"io_keep_cycles": 2,
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"trigger_sample_index_offset_cycles": 8,
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"acc_limit": 1.0,
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"jerk_limit": 1.0
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},
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"flying_shots": {
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"demo": {
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"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
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"shot_flags": [false, false, false, false]
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}
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}
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}
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""");
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var loaded = new RobotConfigLoader().Load(configPath);
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Assert.Equal(8, loaded.Robot.TriggerSampleIndexOffsetCycles);
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}
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finally
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{
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Directory.Delete(tempRoot, recursive: true);
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}
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void RobotConfigLoader_LoadsSmoothStartStopTimingSwitch()
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{
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var tempRoot = CreateTempDirectory();
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try
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{
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var configPath = Path.Combine(tempRoot, "legacy.json");
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File.WriteAllText(
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configPath,
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"""
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{
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"robot": {
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"use_do": true,
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"io_keep_cycles": 2,
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"acc_limit": 1.0,
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"jerk_limit": 1.0,
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"smooth_start_stop_timing": false
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},
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"flying_shots": {
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"demo": {
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"traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
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"shot_flags": [false, false, false, false]
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}
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}
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}
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""");
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var loaded = new RobotConfigLoader().Load(configPath);
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Assert.False(loaded.Robot.SmoothStartStopTiming);
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}
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finally
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{
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Directory.Delete(tempRoot, recursive: true);
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}
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
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{
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var replacementRoot = GetReplacementRoot();
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var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
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var profile = new RobotModelLoader().LoadProfile(modelPath);
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Assert.Equal("FANUC_LR_Mate_200iD_7L", profile.Name);
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Assert.Equal(modelPath, profile.ModelPath);
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Assert.Equal(6, profile.DegreesOfFreedom);
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Assert.Equal(6.45, profile.JointLimits[0].VelocityLimit, precision: 2);
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Assert.Equal(29.81, profile.JointLimits[2].AccelerationLimit, precision: 2);
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var coupling = Assert.Single(profile.JointCouplings);
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Assert.Equal("Joint3", coupling.SlaveJointName);
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Assert.Equal("Joint2", coupling.MasterJointName);
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Assert.Equal(1.0, coupling.Multiplier);
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Assert.Equal(0.0, coupling.Offset);
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void RobotModelLoader_AppliesAccelerationAndJerkScales()
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{
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var replacementRoot = GetReplacementRoot();
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var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
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var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
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Assert.Equal(14.905, profile.JointLimits[2].AccelerationLimit, precision: 3);
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Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
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{
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var replacementRoot = GetReplacementRoot();
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var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
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var loaded = new RobotModelLoader().LoadProfileAndKinematics(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
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Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.Profile.Name);
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Assert.Equal(modelPath, loaded.Profile.ModelPath);
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Assert.Equal(6, loaded.Profile.DegreesOfFreedom);
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Assert.Equal(14.905, loaded.Profile.JointLimits[2].AccelerationLimit, precision: 3);
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Assert.Equal(62.115, loaded.Profile.JointLimits[2].JerkLimit, precision: 3);
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Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.KinematicsModel.Name);
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Assert.True(loaded.KinematicsModel.Joints.Count >= loaded.Profile.DegreesOfFreedom);
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Assert.Contains(loaded.KinematicsModel.Joints, static joint => joint.Name == "Joint3" && joint.CoupleMaster == "Joint2");
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}
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/// <summary>
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/// 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。
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/// </summary>
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[Fact]
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public void PathCompatibility_ResolvesConfigDirectoryOnly_AndBuildsUserDataRoots()
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{
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var tempRoot = CreateTempDirectory();
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try
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{
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var configPath = Path.Combine(tempRoot, "Config", "sample.json");
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Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
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File.WriteAllText(configPath, "{}");
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var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
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Assert.Equal(configPath, resolved);
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Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
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Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
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}
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finally
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{
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Directory.Delete(tempRoot, recursive: true);
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}
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}
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/// <summary>
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/// 验证旧父工作区候选路径存在时也不会被相对配置解析隐式命中。
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/// </summary>
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[Fact]
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public void PathCompatibility_DoesNotResolveLegacyWorkspaceFallbacks()
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{
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var tempRoot = CreateTempDirectory();
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try
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{
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var legacyConfigPath = Path.Combine(tempRoot, "Rvbust", "Install", "FlyingShot", "Config", "sample.json");
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Directory.CreateDirectory(Path.GetDirectoryName(legacyConfigPath)!);
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File.WriteAllText(legacyConfigPath, "{}");
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var exception = Assert.Throws<FileNotFoundException>(() => PathCompatibility.ResolveConfigPath("sample.json", tempRoot));
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Assert.Equal("sample.json", exception.FileName);
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}
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finally
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{
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Directory.Delete(tempRoot, recursive: true);
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}
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}
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/// <summary>
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/// 验证默认加载配置时使用当前 replacement 仓库内的 Config/RobotConfig.json。
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/// </summary>
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[Fact]
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public void RobotConfigLoader_LoadsRepositoryConfigFromReplacementConfigDirectory()
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{
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var replacementRoot = GetReplacementRoot();
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var loaded = new RobotConfigLoader().Load("RobotConfig.json");
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Assert.Equal(Path.Combine(replacementRoot, "Config", "RobotConfig.json"), loaded.SourcePath);
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}
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/// <summary>
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/// 定位当前工作区根目录，便于复用父仓库中的真实样本。
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/// </summary>
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private static string GetWorkspaceRoot()
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{
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var current = new DirectoryInfo(AppContext.BaseDirectory);
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while (current is not null)
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{
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var slnPath = Path.Combine(current.FullName, "FlyshotReplacement.sln");
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if (File.Exists(slnPath))
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{
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return Path.GetFullPath(Path.Combine(current.FullName, ".."));
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}
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current = current.Parent;
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}
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throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
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}
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/// <summary>
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/// 定位 replacement 仓库根目录，供测试读取仓库内固化配置。
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/// </summary>
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private static string GetReplacementRoot()
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{
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var current = new DirectoryInfo(AppContext.BaseDirectory);
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while (current is not null)
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{
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if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
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{
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return current.FullName;
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}
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current = current.Parent;
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}
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throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
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}
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/// <summary>
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/// 创建当前测试专用的临时目录，避免不同测试之间相互污染。
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/// </summary>
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private static string CreateTempDirectory()
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{
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var tempPath = Path.Combine(Path.GetTempPath(), "flyshot-config-tests", Guid.NewGuid().ToString("N"));
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Directory.CreateDirectory(tempPath);
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return tempPath;
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}
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}
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