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✨ feat(fanuc): 添加直角坐标点动功能与相关接口

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* 新增 `MovePose` 方法，支持以直角坐标执行点到点移动。
* 引入 `LegacyCartesianPoseRequest` 类，处理直角位姿请求体的解析与验证。
* 更新 `LegacyHttpApiController`，实现 `/move_pose/` 路由以支持新功能。
* 增强状态快照元数据，提供机器人初始化状态与已上传轨迹信息。
* 更新前端状态页面，增加直角坐标点动控制面板与步长设置选项。
* 相关文档与测试用例同步更新，确保新功能的完整性与稳定性。
This commit is contained in:
yunxiao.zhu
2026-05-14 17:46:42 +08:00
parent d120ef2a39
commit 2cd42f04e5
22 changed files with 2062 additions and 104 deletions
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22
tests/Flyshot.Server.IntegrationTests/DebugConsoleEndpointTests.cs
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@@ -44,6 +44,28 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
Assert.Contains("/api/debug/config", script, StringComparison.Ordinal);
}
/// <summary>
/// 调试页应当为 MovePose 提供可直接发送的六字段请求体模板。
/// </summary>
[Fact]
public async Task GetDebugScript_ContainsMovePoseRequestSample()
{
using var configuredFactory = CreateFactoryWithSwaggerEnabled(true);
using var client = configuredFactory.CreateClient();
using var scriptResponse = await client.GetAsync("/assets/debug.js");
Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
var script = await scriptResponse.Content.ReadAsStringAsync();
Assert.Contains("/move_pose/", script, StringComparison.Ordinal);
Assert.Contains("x: 100.0", script, StringComparison.Ordinal);
Assert.Contains("y: 200.0", script, StringComparison.Ordinal);
Assert.Contains("z: 300.0", script, StringComparison.Ordinal);
Assert.Contains("w: 0.0", script, StringComparison.Ordinal);
Assert.Contains("p: 45.0", script, StringComparison.Ordinal);
Assert.Contains("r: 0.0", script, StringComparison.Ordinal);
}
/// <summary>
/// 当 Swagger 启用时，调试配置 API 应当返回实际 Swagger JSON 地址。
/// </summary>

34
tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs
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@@ -1,5 +1,6 @@
using System.Net;
using System.Net.Http.Json;
using System.Text;
using System.Text.Json;
namespace Flyshot.Server.IntegrationTests;
@@ -131,6 +132,13 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
Assert.Equal("robot moved", moveJointJson.RootElement.GetProperty("status").GetString());
}
using (var movePoseResponse = await client.PostAsJsonAsync("/move_pose/", new { x = 100.0, y = 200.0, z = 300.0, w = 1.0, p = 2.0, r = 3.0 }))
{
Assert.Equal(HttpStatusCode.OK, movePoseResponse.StatusCode);
using var movePoseJson = await ReadJsonAsync(movePoseResponse);
Assert.Equal("robot moved", movePoseJson.RootElement.GetProperty("status").GetString());
}
using (var getJointPositionResponse = await client.GetAsync("/get_joint_position/"))
{
Assert.Equal(HttpStatusCode.OK, getJointPositionResponse.StatusCode);
@@ -165,6 +173,32 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
}
}
/// <summary>
/// 验证 MovePose 请求必须显式提供六个有限直角坐标字段，避免缺字段被模型绑定静默补 0。
/// </summary>
[Theory]
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":2.0}""")]
[InlineData("null")]
[InlineData("""{"x":1e999,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
[InlineData("""{"x":1000.1,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
[InlineData("""{"x":100.0,"y":-1000.1,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
[InlineData("""{"x":100.0,"y":200.0,"z":-0.1,"w":1.0,"p":2.0,"r":3.0}""")]
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":-180.1,"p":2.0,"r":3.0}""")]
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":90.1,"r":3.0}""")]
[InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":180.1}""")]
public async Task MovePose_InvalidPayload_ReturnsLegacyBadRequest(string payload)
{
using var client = factory.CreateClient();
await InitializeRobotAsync(client);
using var content = new StringContent(payload, Encoding.UTF8, "application/json");
using var response = await client.PostAsync("/move_pose/", content);
Assert.Equal(HttpStatusCode.BadRequest, response.StatusCode);
using var json = await ReadJsonAsync(response);
Assert.Equal("MovePose failed", json.RootElement.GetProperty("detail").GetString());
}
/// <summary>
/// 验证飞拍 HTTP 接口可以按旧 API 层的路径和字段完成上传、列出、执行与删除。
/// </summary>

33
tests/Flyshot.Server.IntegrationTests/StatusEndpointTests.cs
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@@ -34,6 +34,39 @@ public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFi
Assert.Contains("/api/status/snapshot", script, StringComparison.Ordinal);
}
/// <summary>
/// 状态页应当提供直角坐标点动按钮，并复用现有 MovePose HTTP 接口。
/// </summary>
[Fact]
public async Task GetStatusPageAssets_ExposeCartesianJogControls()
{
using var client = factory.CreateClient();
using var htmlResponse = await client.GetAsync("/status.html");
Assert.Equal(HttpStatusCode.OK, htmlResponse.StatusCode);
var html = await htmlResponse.Content.ReadAsStringAsync();
Assert.Contains("直角坐标点动", html, StringComparison.Ordinal);
Assert.Contains("id=\"linear-step\"", html, StringComparison.Ordinal);
Assert.Contains("id=\"angular-step\"", html, StringComparison.Ordinal);
foreach (var axis in new[] { "x", "y", "z", "w", "p", "r" })
{
Assert.Contains($"data-axis=\"{axis}\"", html, StringComparison.Ordinal);
Assert.Contains($"data-axis=\"{axis}\" data-direction=\"1\"", html, StringComparison.Ordinal);
Assert.Contains($"data-axis=\"{axis}\" data-direction=\"-1\"", html, StringComparison.Ordinal);
}
using var scriptResponse = await client.GetAsync("/assets/status.js");
Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
var script = await scriptResponse.Content.ReadAsStringAsync();
Assert.Contains("/move_pose/", script, StringComparison.Ordinal);
Assert.Contains("cartesianPose", script, StringComparison.Ordinal);
Assert.Contains("pointerdown", script, StringComparison.Ordinal);
Assert.Contains("pointerup", script, StringComparison.Ordinal);
}
/// <summary>
/// 验证状态快照 API 会返回运行时连接、使能、速度和机器人元数据。
/// </summary>