yunxiao.zhu
c6829d214a
* 新增 J519 实发采样器，按 8ms 周期生成 timing/jerk 诊断行并完成 rad->deg 转换 * 兼容层产物导出补充 speedRatio，规划编排补齐 smoothStartStopTiming 与日志透传 * 配置与机型加载切换到运行目录 JSON 模型，并补齐 7L 展开模型与相关单元测试
100 lines
3.5 KiB
C#
100 lines
3.5 KiB
C#
using Flyshot.Core.Planning.Sampling;
|
|
|
|
namespace Flyshot.Core.Tests;
|
|
|
|
/// <summary>
|
|
/// 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。
|
|
/// </summary>
|
|
public sealed class J519SendTrajectorySamplerTests
|
|
{
|
|
/// <summary>
|
|
/// 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。
|
|
/// </summary>
|
|
[Fact]
|
|
public void SampleDenseJointTrajectory_MapsSendTimeToScaledTrajectoryTimeAndDegrees()
|
|
{
|
|
var denseTrajectory = new[]
|
|
{
|
|
new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
|
|
new[] { 0.008, Math.PI / 2.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
|
|
new[] { 0.016, Math.PI, 0.0, 0.0, 0.0, 0.0, 0.0 }
|
|
};
|
|
|
|
var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
|
denseTrajectory,
|
|
durationSeconds: 0.016,
|
|
servoPeriodSeconds: 0.008,
|
|
speedRatio: 0.5);
|
|
|
|
Assert.Equal(5, samples.Count);
|
|
Assert.Equal(0, samples[0].SampleIndex);
|
|
Assert.Equal(0.0, samples[0].SendTime, precision: 6);
|
|
Assert.Equal(0.0, samples[0].TrajectoryTime, precision: 6);
|
|
Assert.Equal(0.0, samples[0].JointsDegrees[0], precision: 6);
|
|
|
|
Assert.Equal(1, samples[1].SampleIndex);
|
|
Assert.Equal(0.008, samples[1].SendTime, precision: 6);
|
|
Assert.Equal(0.004, samples[1].TrajectoryTime, precision: 6);
|
|
Assert.Equal(45.0, samples[1].JointsDegrees[0], precision: 6);
|
|
|
|
Assert.Equal(4, samples[^1].SampleIndex);
|
|
Assert.Equal(0.032, samples[^1].SendTime, precision: 6);
|
|
Assert.Equal(0.016, samples[^1].TrajectoryTime, precision: 6);
|
|
Assert.Equal(180.0, samples[^1].JointsDegrees[0], precision: 6);
|
|
}
|
|
|
|
/// <summary>
|
|
/// 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。
|
|
/// </summary>
|
|
[Fact]
|
|
public void SampleDenseJointTrajectory_RejectsEmptyDenseTrajectory()
|
|
{
|
|
var exception = Assert.Throws<InvalidOperationException>(() =>
|
|
J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
|
Array.Empty<IReadOnlyList<double>>(),
|
|
durationSeconds: 0.016,
|
|
servoPeriodSeconds: 0.008,
|
|
speedRatio: 1.0));
|
|
|
|
Assert.Contains("稠密关节轨迹为空", exception.Message);
|
|
}
|
|
|
|
/// <summary>
|
|
/// 验证非法 speed_ratio 会在公共入口统一拦截。
|
|
/// </summary>
|
|
[Theory]
|
|
[InlineData(0.0)]
|
|
[InlineData(double.NaN)]
|
|
[InlineData(double.PositiveInfinity)]
|
|
public void SampleDenseJointTrajectory_RejectsInvalidSpeedRatio(double speedRatio)
|
|
{
|
|
var denseTrajectory = new[]
|
|
{
|
|
new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
|
|
};
|
|
|
|
Assert.Throws<ArgumentOutOfRangeException>(() =>
|
|
J519SendTrajectorySampler.SampleDenseJointTrajectory(
|
|
denseTrajectory,
|
|
durationSeconds: 0.0,
|
|
servoPeriodSeconds: 0.008,
|
|
speedRatio: speedRatio));
|
|
}
|
|
|
|
/// <summary>
|
|
/// 验证公共诊断行格式与既有 ActualSendTiming 文件保持一致。
|
|
/// </summary>
|
|
[Fact]
|
|
public void BuildTimingRow_UsesLegacyActualSendColumnOrder()
|
|
{
|
|
var row = J519SendTrajectorySampler.BuildTimingRow(new J519SendSample(
|
|
sampleIndex: 2,
|
|
sendTime: 0.016,
|
|
trajectoryTime: 0.008,
|
|
speedRatio: 0.5,
|
|
jointsDegrees: [90.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
|
|
|
|
Assert.Equal([2.0, 0.016, 0.008, 0.5], row);
|
|
}
|
|
}
|