yunxiao.zhu
d120ef2a39
* 将 speedRatio 前移到规划/准备阶段，运行时只消费已生成的 8ms 队列 * 区分旧格式规划导出与 ActualSend 实发诊断工件 * 补充普通轨迹、MoveJoint、飞拍队列和严格限幅回归测试
234 lines
9.1 KiB
C#
234 lines
9.1 KiB
C#
using Flyshot.Core.Planning.Sampling;
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using Flyshot.Core.Domain;
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using Flyshot.Core.Planning;
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namespace Flyshot.Core.Tests;
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/// <summary>
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/// 验证 J519 实发重采样器在离线导出和运行时下发之间保持一致的时间轴语义。
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/// </summary>
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public sealed class J519SendTrajectorySamplerTests
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{
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/// <summary>
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/// 验证 speed_ratio 只缩放轨迹时间，物理发送时间仍按固定伺服周期推进。
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/// </summary>
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[Fact]
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public void SampleDenseJointTrajectory_MapsSendTimeToScaledTrajectoryTimeAndDegrees()
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{
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var denseTrajectory = new[]
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{
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new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
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new[] { 0.008, Math.PI / 2.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
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new[] { 0.016, Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0 }
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};
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var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
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denseTrajectory,
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durationSeconds: 0.016,
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servoPeriodSeconds: 0.008,
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speedRatio: 0.5);
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Assert.Equal(5, samples.Count);
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Assert.Equal(0, samples[0].SampleIndex);
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Assert.Equal(0.0, samples[0].SendTime, precision: 6);
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Assert.Equal(0.0, samples[0].TrajectoryTime, precision: 6);
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Assert.Equal(0.0, samples[0].JointsDegrees[0], precision: 6);
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Assert.Equal(1, samples[1].SampleIndex);
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Assert.Equal(0.008, samples[1].SendTime, precision: 6);
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Assert.Equal(0.004, samples[1].TrajectoryTime, precision: 6);
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Assert.Equal(45.0, samples[1].JointsDegrees[0], precision: 6);
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Assert.Equal(4, samples[^1].SampleIndex);
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Assert.Equal(0.032, samples[^1].SendTime, precision: 6);
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Assert.Equal(0.016, samples[^1].TrajectoryTime, precision: 6);
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Assert.Equal(180.0, samples[^1].JointsDegrees[0], precision: 6);
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}
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/// <summary>
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/// 验证飞拍 speed_ratio 安全队列从连续规划样条直接采样，而不是先把规划轨迹离散成稠密点后再线性插值。
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/// </summary>
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[Fact]
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public void SamplePlannedTrajectory_DirectlyEvaluatesContinuousSplineForSpeedRatio()
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{
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var trajectory = CreateSingleJointTrajectory();
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var samples = J519SendTrajectorySampler.SamplePlannedTrajectory(
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trajectory,
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servoPeriodSeconds: 0.008,
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speedRatio: 0.5);
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var sample = Assert.Single(samples.Where(static item => Math.Abs(item.TrajectoryTime - 0.004) < 1e-9));
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Assert.Equal(0.008, sample.SendTime, precision: 6);
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Assert.Equal(0.004, sample.TrajectoryTime, precision: 6);
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Assert.NotEqual(45.0, sample.JointsDegrees[0], precision: 3);
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var expected = new CubicSplineInterpolator(
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trajectory.WaypointTimes.ToArray(),
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trajectory.PlannedWaypoints.Select(static waypoint => waypoint.Positions.ToArray()).ToArray())
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.Evaluate(0.004)[0] * 180.0 / Math.PI;
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Assert.Equal(expected, sample.JointsDegrees[0], precision: 6);
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}
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/// <summary>
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/// 验证 speed_ratio 等价于执行侧时间轴拉长：原轨迹 0.8 倍执行应与时间整体拉长 1/0.8 的轨迹 1 倍执行一致。
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/// </summary>
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[Fact]
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public void SamplePlannedTrajectory_SpeedRatioMatchesUniformPlanningTimeStretch()
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{
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var trajectory = CreateSingleJointTrajectory();
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var stretchedTrajectory = StretchTrajectoryTime(trajectory, stretchFactor: 1.0 / 0.8);
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var ratioSamples = J519SendTrajectorySampler.SamplePlannedTrajectory(
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trajectory,
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servoPeriodSeconds: 0.008,
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speedRatio: 0.8);
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var stretchedSamples = J519SendTrajectorySampler.SamplePlannedTrajectory(
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stretchedTrajectory,
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servoPeriodSeconds: 0.008,
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speedRatio: 1.0);
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Assert.Equal(stretchedSamples.Count, ratioSamples.Count);
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for (var index = 0; index < ratioSamples.Count; index++)
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{
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Assert.Equal(stretchedSamples[index].SendTime, ratioSamples[index].SendTime, precision: 6);
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Assert.Equal(stretchedSamples[index].TrajectoryTime * 0.8, ratioSamples[index].TrajectoryTime, precision: 6);
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Assert.Equal(stretchedSamples[index].JointsDegrees[0], ratioSamples[index].JointsDegrees[0], precision: 6);
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}
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}
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/// <summary>
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/// 验证空稠密轨迹会直接暴露为调用错误，避免生成无意义下发点。
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/// </summary>
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[Fact]
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public void SampleDenseJointTrajectory_RejectsEmptyDenseTrajectory()
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{
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var exception = Assert.Throws<InvalidOperationException>(() =>
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J519SendTrajectorySampler.SampleDenseJointTrajectory(
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Array.Empty<IReadOnlyList<double>>(),
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durationSeconds: 0.016,
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servoPeriodSeconds: 0.008,
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speedRatio: 1.0));
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Assert.Contains("稠密关节轨迹为空", exception.Message);
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}
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/// <summary>
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/// 验证非法 speed_ratio 会在公共入口统一拦截。
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/// </summary>
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[Theory]
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[InlineData(0.0)]
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[InlineData(double.NaN)]
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[InlineData(double.PositiveInfinity)]
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public void SampleDenseJointTrajectory_RejectsInvalidSpeedRatio(double speedRatio)
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{
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var denseTrajectory = new[]
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{
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new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
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};
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Assert.Throws<ArgumentOutOfRangeException>(() =>
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J519SendTrajectorySampler.SampleDenseJointTrajectory(
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denseTrajectory,
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durationSeconds: 0.0,
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servoPeriodSeconds: 0.008,
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speedRatio: speedRatio));
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}
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/// <summary>
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/// 验证公共诊断行格式与既有 ActualSendTiming 文件保持一致。
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/// </summary>
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[Fact]
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public void BuildTimingRow_UsesLegacyActualSendColumnOrder()
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{
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var row = J519SendTrajectorySampler.BuildTimingRow(new J519SendSample(
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sampleIndex: 2,
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sendTime: 0.016,
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trajectoryTime: 0.008,
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speedRatio: 0.5,
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jointsDegrees: [90.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
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Assert.Equal([2.0, 0.016, 0.008, 0.5], row);
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}
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/// <summary>
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/// 验证倍率诊断行在保留旧 4 列的同时追加请求倍率和历史改写次数。
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/// </summary>
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[Fact]
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public void BuildTimingRow_WithRatioDiagnostics_AppendsRequestedRatioAndIterationCount()
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{
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var sample = new J519SendSample(
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sampleIndex: 2,
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sendTime: 0.016,
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trajectoryTime: 0.0076,
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speedRatio: 0.475,
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jointsDegrees: [90.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
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var row = J519SendTrajectorySampler.BuildTimingRow(
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sample,
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requestedSpeedRatio: 0.5,
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stretchIterationCount: 1);
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Assert.Equal([2.0, 0.016, 0.0076, 0.475, 0.5, 1.0], row);
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}
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/// <summary>
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/// 构造一个最小单关节规划轨迹，便于验证 speed_ratio 直接样条采样语义。
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/// </summary>
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private static PlannedTrajectory CreateSingleJointTrajectory()
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{
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var robot = new RobotProfile(
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name: "TestRobot",
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modelPath: "Models/Test.robot",
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degreesOfFreedom: 1,
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jointLimits: [new JointLimit("J1", 100.0, 1000.0, 10000.0)],
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jointCouplings: Array.Empty<JointCoupling>(),
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servoPeriod: TimeSpan.FromMilliseconds(8),
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triggerPeriod: TimeSpan.FromMilliseconds(8));
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var program = new FlyshotProgram(
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name: "spline-sample",
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waypoints:
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[
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new JointWaypoint([0.0]),
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new JointWaypoint([Math.PI / 2.0]),
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new JointWaypoint([Math.PI])
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],
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shotFlags: [false, false, false],
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offsetValues: [0, 0, 0],
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addressGroups:
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[
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new IoAddressGroup(Array.Empty<int>()),
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new IoAddressGroup(Array.Empty<int>()),
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new IoAddressGroup(Array.Empty<int>())
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]);
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return new PlannedTrajectory(
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robot: robot,
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originalProgram: program,
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plannedWaypoints: program.Waypoints,
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waypointTimes: [0.0, 0.008, 0.016],
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segmentDurations: [0.008, 0.008],
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segmentScales: [1.0, 1.0],
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method: PlanningMethod.Icsp,
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iterations: 1,
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threshold: 0.0);
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}
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/// <summary>
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/// 构造统一拉长时间轴后的轨迹，模拟更低 planning_speed_scale 生成的等几何时间结果。
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/// </summary>
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private static PlannedTrajectory StretchTrajectoryTime(PlannedTrajectory trajectory, double stretchFactor)
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{
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return new PlannedTrajectory(
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robot: trajectory.Robot,
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originalProgram: trajectory.OriginalProgram,
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plannedWaypoints: trajectory.PlannedWaypoints,
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waypointTimes: trajectory.WaypointTimes.Select(time => time * stretchFactor).ToArray(),
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segmentDurations: trajectory.SegmentDurations.Select(duration => duration * stretchFactor).ToArray(),
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segmentScales: trajectory.SegmentScales.Select(scale => scale / stretchFactor).ToArray(),
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method: trajectory.Method,
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iterations: trajectory.Iterations,
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threshold: trajectory.Threshold);
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}
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}
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