✨ feat(native-planning): 更新 Rust ICSP 原生库及构建脚本

* 将 Rust ICSP 原生库名称更改为 `flyshot_planning`，更新相关引用。
* 修改构建脚本以支持新的库名称，并确保库文件复制到正确的目录。
* 添加对 Rust ICSP 原生库的依赖检查，确保发布时包含必要的库文件。
* 更新测试项目以加载新的原生库，确保兼容性和功能完整性。

build/Copy-NativePlanningArtifacts.ps1

@@ -1,94 +1,76 @@
+<#
+.SYNOPSIS
+构建 Rust ICSP 原生规划库并复制到 src/Libs 与可选目标目录。
+
+.DESCRIPTION
+在 Windows x64 上通过 cargo release 构建 flyshot_planning，默认写入
+src/Libs/flyshot_planning.dll；Linux x64 写入 src/Libs/libflyshot_planning.so。
+可通过 -DestinationDirectories 额外复制到测试或发布输出目录。
+
+.PARAMETER Configuration
+传递给 dotnet 相关路径的构建配置名，默认 Release。
+
+.PARAMETER DestinationDirectories
+除 src/Libs 外需要覆盖复制的额外目标目录列表。
+#>
+
+[CmdletBinding()]
 param(
-    [ValidateSet("Debug", "Release")]
-    [string]$Configuration = "Release",
+    [ValidateSet('Debug', 'Release')]
+    [string]$Configuration = 'Release',
 
     [string[]]$DestinationDirectories = @()
 )
 
-$ErrorActionPreference = "Stop"
+$ErrorActionPreference = 'Stop'
+Set-StrictMode -Version Latest
 
-# 从脚本位置定位仓库根目录，确保从任意工作目录调用都得到一致结果。
-$repositoryRoot = Split-Path -Parent $PSScriptRoot
-$manifestPath = Join-Path $repositoryRoot "native/flyshot-native-planning/Cargo.toml"
-$cargoExecutable = if ($IsWindows) { "cargo.exe" } else { "cargo" }
-$cargoPath = Join-Path $HOME ".cargo/bin/$cargoExecutable"
-if (-not (Test-Path -LiteralPath $cargoPath)) {
-    throw "未找到 Rust Cargo：$cargoPath。请先通过 rustup 安装 stable-x86_64-pc-windows-msvc。"
+$repositoryRoot = (Resolve-Path (Join-Path $PSScriptRoot '..')).Path
+$cargoManifest = Join-Path $repositoryRoot 'native\flyshot-native-planning\Cargo.toml'
+$libsDirectory = Join-Path $repositoryRoot 'src\Libs'
+$cargoProfile = if ($Configuration -eq 'Debug') { 'debug' } else { 'release' }
+$targetDirectory = Join-Path $repositoryRoot "native\flyshot-native-planning\target\$cargoProfile"
+
+if ($IsLinux -or (-not $IsWindows -and -not $IsMacOS))
+{
+    $artifactFileName = 'libflyshot_planning.so'
+}
+else
+{
+    $artifactFileName = 'flyshot_planning.dll'
 }
 
-$cargoArguments = @("build", "--manifest-path", $manifestPath)
-if ($Configuration -eq "Release") {
-    $cargoArguments += "--release"
+$builtArtifactPath = Join-Path $targetDirectory $artifactFileName
+$libsArtifactPath = Join-Path $libsDirectory $artifactFileName
+
+Write-Host "正在构建 Rust 原生规划库 ($Configuration) ..."
+& cargo build --manifest-path $cargoManifest --$Configuration
+if ($LASTEXITCODE -ne 0)
+{
+    throw "cargo build 失败，退出码：$LASTEXITCODE"
 }
 
-if ($IsWindows) {
-    # Windows MSVC 目标必须在 VS C++ 开发者环境中运行，避免 PATH 中其他 link.exe 抢占。
-    $vswherePath = "${env:ProgramFiles(x86)}\Microsoft Visual Studio\Installer\vswhere.exe"
-    if (-not (Test-Path -LiteralPath $vswherePath)) {
-        throw "未找到 vswhere.exe，无法定位 Visual Studio C++ Build Tools。"
+if (-not (Test-Path -LiteralPath $builtArtifactPath -PathType Leaf))
+{
+    throw "未找到构建产物：$builtArtifactPath"
+}
+
+New-Item -ItemType Directory -Path $libsDirectory -Force | Out-Null
+Copy-Item -LiteralPath $builtArtifactPath -Destination $libsArtifactPath -Force
+Write-Host "已复制到：$libsArtifactPath"
+
+$defaultTestOutput = Join-Path $repositoryRoot "tests\Flyshot.Core.Tests\bin\$Configuration\net8.0"
+$allDestinations = @($DestinationDirectories) + @($defaultTestOutput)
+
+foreach ($destination in $allDestinations | Where-Object { -not [string]::IsNullOrWhiteSpace($_) } | Select-Object -Unique)
+{
+    $absoluteDestination = [System.IO.Path]::GetFullPath($destination)
+    if (-not (Test-Path -LiteralPath $absoluteDestination -PathType Container))
+    {
+        Write-Host "跳过不存在的目标目录：$absoluteDestination"
+        continue
     }
 
-    $installationPath = & $vswherePath -latest -products * `
-        -requires Microsoft.VisualStudio.Component.VC.Tools.x86.x64 `
-        -property installationPath
-    if ([string]::IsNullOrWhiteSpace($installationPath)) {
-        throw "未找到已安装的 Visual Studio C++ x64 编译工具。"
-    }
-
-    $vcvarsPath = Join-Path $installationPath "VC/Auxiliary/Build/vcvars64.bat"
-    if (-not (Test-Path -LiteralPath $vcvarsPath)) {
-        throw "未找到 VS x64 开发者环境脚本：$vcvarsPath"
-    }
-
-    $quotedArguments = $cargoArguments | ForEach-Object { '"' + $_.Replace('"', '\"') + '"' }
-    $command = 'call "{0}" >nul && "{1}" {2}' -f `
-        $vcvarsPath, $cargoPath, ($quotedArguments -join " ")
-    & cmd.exe /d /c $command
-    if ($LASTEXITCODE -ne 0) {
-        throw "Rust 原生规划库构建失败，退出码：$LASTEXITCODE"
-    }
-}
-else {
-    & $cargoPath @cargoArguments
-    if ($LASTEXITCODE -ne 0) {
-        throw "Rust 原生规划库构建失败，退出码：$LASTEXITCODE"
-    }
-}
-
-$profileDirectory = if ($Configuration -eq "Release") { "release" } else { "debug" }
-$libraryName = if ($IsWindows) {
-    "flyshot_native_planning.dll"
-}
-elseif ($IsLinux) {
-    "libflyshot_native_planning.so"
-}
-else {
-    throw "当前脚本仅支持 Windows x64 和 Linux x64。"
-}
-$sourcePath = Join-Path $repositoryRoot "native/flyshot-native-planning/target/$profileDirectory/$libraryName"
-if (-not (Test-Path -LiteralPath $sourcePath)) {
-    throw "Rust 构建已结束，但未找到原生库：$sourcePath"
-}
-
-# 未显式指定目标时，默认复制到对应配置的 Core 测试输出目录。
-if ($DestinationDirectories.Count -eq 0) {
-    $DestinationDirectories = @(
-        (Join-Path $repositoryRoot "tests/Flyshot.Core.Tests/bin/$Configuration/net8.0")
-    )
-}
-
-foreach ($destinationDirectory in $DestinationDirectories) {
-    $destinationPath = if ([System.IO.Path]::IsPathRooted($destinationDirectory)) {
-        $destinationDirectory
-    }
-    else {
-        Join-Path $repositoryRoot $destinationDirectory
-    }
-    $resolvedDestination = [System.IO.Path]::GetFullPath(
-        $destinationPath)
-    New-Item -ItemType Directory -Force -Path $resolvedDestination | Out-Null
-    Copy-Item -LiteralPath $sourcePath `
-        -Destination (Join-Path $resolvedDestination $libraryName) `
-        -Force
-    Write-Host "已复制原生规划库到：$resolvedDestination"
+    Copy-Item -LiteralPath $builtArtifactPath -Destination (Join-Path $absoluteDestination $artifactFileName) -Force
+    Write-Host "已复制到：$absoluteDestination\$artifactFileName"
 }