✨ feat: 初始化飞拍替换方案仓库骨架
* 建立 .NET 8 解决方案及分层项目结构 * 添加 Flyshot.Core.Domain 领域模型（机器人、轨迹、运动学） * 添加 Flyshot.Core.Planning 规划层（ICSP、CubicSpline、采样器） * 添加 Flyshot.Core.Triggering 触发时序与 IO 时间轴 * 添加 Flyshot.Core.Config 配置兼容与 .robot 解析 * 添加 Flyshot.Server.Host 最小宿主及 /healthz 端点 * 补充单元测试与集成测试项目 * 添加 CLAUDE.md、AGENTS.md、README.md 项目规范
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226
src/Flyshot.Core.Domain/RobotProfile.cs
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226
src/Flyshot.Core.Domain/RobotProfile.cs
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using System.Text.Json.Serialization;
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namespace Flyshot.Core.Domain;
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/// <summary>
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/// Describes the robot model contract consumed by planning and runtime orchestration.
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/// </summary>
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public sealed class RobotProfile
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{
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/// <summary>
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/// Initializes a new robot profile with validated joint limits and coupling metadata.
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/// </summary>
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public RobotProfile(
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string name,
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string modelPath,
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int degreesOfFreedom,
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IEnumerable<JointLimit> jointLimits,
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IEnumerable<JointCoupling> jointCouplings,
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TimeSpan servoPeriod,
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TimeSpan triggerPeriod)
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{
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if (string.IsNullOrWhiteSpace(name))
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{
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throw new ArgumentException("Robot profile name is required.", nameof(name));
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}
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if (string.IsNullOrWhiteSpace(modelPath))
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{
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throw new ArgumentException("Robot profile model path is required.", nameof(modelPath));
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}
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if (degreesOfFreedom <= 0)
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{
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throw new ArgumentOutOfRangeException(nameof(degreesOfFreedom), "Degrees of freedom must be positive.");
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}
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if (servoPeriod <= TimeSpan.Zero)
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{
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throw new ArgumentOutOfRangeException(nameof(servoPeriod), "Servo period must be positive.");
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}
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if (triggerPeriod <= TimeSpan.Zero)
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{
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throw new ArgumentOutOfRangeException(nameof(triggerPeriod), "Trigger period must be positive.");
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}
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ArgumentNullException.ThrowIfNull(jointLimits);
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ArgumentNullException.ThrowIfNull(jointCouplings);
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// Snapshot the collections once so downstream layers cannot mutate domain state in place.
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var copiedJointLimits = jointLimits.ToArray();
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var copiedJointCouplings = jointCouplings.ToArray();
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if (copiedJointLimits.Length != degreesOfFreedom)
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{
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throw new ArgumentException("Joint limit count must match degrees of freedom.", nameof(jointLimits));
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}
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Name = name;
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ModelPath = modelPath;
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DegreesOfFreedom = degreesOfFreedom;
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JointLimits = copiedJointLimits;
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JointCouplings = copiedJointCouplings;
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ServoPeriod = servoPeriod;
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TriggerPeriod = triggerPeriod;
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}
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/// <summary>
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/// Gets the robot profile name exposed to the rest of the runtime.
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/// </summary>
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[JsonPropertyName("name")]
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public string Name { get; }
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/// <summary>
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/// Gets the source path of the robot model file.
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/// </summary>
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[JsonPropertyName("modelPath")]
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public string ModelPath { get; }
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/// <summary>
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/// Gets the active revolute degree-of-freedom count.
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/// </summary>
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[JsonPropertyName("degreesOfFreedom")]
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public int DegreesOfFreedom { get; }
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/// <summary>
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/// Gets the validated per-joint kinematic limits.
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/// </summary>
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[JsonPropertyName("jointLimits")]
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public IReadOnlyList<JointLimit> JointLimits { get; }
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/// <summary>
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/// Gets optional joint coupling metadata parsed from the robot model.
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/// </summary>
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[JsonPropertyName("jointCouplings")]
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public IReadOnlyList<JointCoupling> JointCouplings { get; }
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/// <summary>
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/// Gets the servo scheduling period used by the runtime.
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/// </summary>
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[JsonPropertyName("servoPeriod")]
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public TimeSpan ServoPeriod { get; }
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/// <summary>
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/// Gets the trigger scheduling period used by shot-event alignment.
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/// </summary>
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[JsonPropertyName("triggerPeriod")]
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public TimeSpan TriggerPeriod { get; }
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}
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/// <summary>
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/// Describes a single revolute joint limit set required by the planners.
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/// </summary>
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public sealed class JointLimit
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{
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/// <summary>
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/// Initializes a validated joint limit record.
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/// </summary>
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public JointLimit(string jointName, double velocityLimit, double accelerationLimit, double jerkLimit)
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{
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if (string.IsNullOrWhiteSpace(jointName))
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{
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throw new ArgumentException("Joint name is required.", nameof(jointName));
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}
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if (velocityLimit <= 0.0)
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{
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throw new ArgumentOutOfRangeException(nameof(velocityLimit), "Velocity limit must be positive.");
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}
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if (accelerationLimit <= 0.0)
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{
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throw new ArgumentOutOfRangeException(nameof(accelerationLimit), "Acceleration limit must be positive.");
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}
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if (jerkLimit <= 0.0)
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{
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throw new ArgumentOutOfRangeException(nameof(jerkLimit), "Jerk limit must be positive.");
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}
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JointName = jointName;
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VelocityLimit = velocityLimit;
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AccelerationLimit = accelerationLimit;
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JerkLimit = jerkLimit;
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}
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/// <summary>
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/// Gets the joint name associated with the limits.
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/// </summary>
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[JsonPropertyName("jointName")]
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public string JointName { get; }
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/// <summary>
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/// Gets the velocity limit in joint space units.
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/// </summary>
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[JsonPropertyName("velocityLimit")]
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public double VelocityLimit { get; }
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/// <summary>
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/// Gets the acceleration limit in joint space units.
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/// </summary>
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[JsonPropertyName("accelerationLimit")]
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public double AccelerationLimit { get; }
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/// <summary>
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/// Gets the jerk limit in joint space units.
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/// </summary>
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[JsonPropertyName("jerkLimit")]
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public double JerkLimit { get; }
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}
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/// <summary>
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/// Describes a joint-coupling rule that must be applied before kinematics or planning.
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/// </summary>
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public sealed class JointCoupling
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{
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/// <summary>
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/// Initializes a validated joint-coupling description.
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/// </summary>
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public JointCoupling(string slaveJointName, string masterJointName, double multiplier, double offset)
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{
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if (string.IsNullOrWhiteSpace(slaveJointName))
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{
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throw new ArgumentException("Slave joint name is required.", nameof(slaveJointName));
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}
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if (string.IsNullOrWhiteSpace(masterJointName))
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{
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throw new ArgumentException("Master joint name is required.", nameof(masterJointName));
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}
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if (string.Equals(slaveJointName, masterJointName, StringComparison.Ordinal))
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{
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throw new ArgumentException("Slave and master joints must be different.");
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}
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SlaveJointName = slaveJointName;
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MasterJointName = masterJointName;
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Multiplier = multiplier;
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Offset = offset;
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}
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/// <summary>
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/// Gets the dependent joint name.
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/// </summary>
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[JsonPropertyName("slaveJointName")]
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public string SlaveJointName { get; }
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/// <summary>
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/// Gets the source joint name.
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/// </summary>
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[JsonPropertyName("masterJointName")]
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public string MasterJointName { get; }
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/// <summary>
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/// Gets the coupling multiplier applied to the master joint angle.
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/// </summary>
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[JsonPropertyName("multiplier")]
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public double Multiplier { get; }
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/// <summary>
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/// Gets the additive offset applied after the multiplier.
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/// </summary>
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[JsonPropertyName("offset")]
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public double Offset { get; }
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}
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