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
23 lines
892 B
XML
23 lines
892 B
XML
<Project Sdk="Microsoft.NET.Sdk">
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<ItemGroup>
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<ProjectReference Include="..\Flyshot.Core.Config\Flyshot.Core.Config.csproj" />
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<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
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<ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
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<ProjectReference Include="..\Flyshot.Core.Triggering\Flyshot.Core.Triggering.csproj" />
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<ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />
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<ProjectReference Include="..\Flyshot.Runtime.Fanuc\Flyshot.Runtime.Fanuc.csproj" />
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</ItemGroup>
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<ItemGroup>
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<FrameworkReference Include="Microsoft.AspNetCore.App" />
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</ItemGroup>
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<ItemGroup>
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<AssemblyAttribute Include="System.Runtime.CompilerServices.InternalsVisibleTo">
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<_Parameter1>Flyshot.Core.Tests</_Parameter1>
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</AssemblyAttribute>
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</ItemGroup>
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</Project>
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