✨ 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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272
src/Flyshot.Core.Domain/TrajectoryResult.cs
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272
src/Flyshot.Core.Domain/TrajectoryResult.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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/// Represents the stable planning result returned to orchestration, SDKs, and monitoring layers.
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/// </summary>
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public sealed class TrajectoryResult
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{
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/// <summary>
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/// Initializes a validated trajectory result.
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/// </summary>
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public TrajectoryResult(
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string programName,
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PlanningMethod method,
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bool isValid,
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TimeSpan duration,
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IEnumerable<ShotEvent> shotEvents,
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IEnumerable<TrajectoryDoEvent> triggerTimeline,
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IEnumerable<TrajectoryArtifact> artifacts,
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string? failureReason,
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bool usedCache,
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int originalWaypointCount,
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int plannedWaypointCount)
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{
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if (string.IsNullOrWhiteSpace(programName))
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{
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throw new ArgumentException("Program name is required.", nameof(programName));
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}
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if (duration < TimeSpan.Zero)
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{
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throw new ArgumentOutOfRangeException(nameof(duration), "Duration must be zero or positive.");
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}
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if (originalWaypointCount < 0)
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{
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throw new ArgumentOutOfRangeException(nameof(originalWaypointCount), "Original waypoint count must be zero or positive.");
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}
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if (plannedWaypointCount < originalWaypointCount)
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{
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throw new ArgumentOutOfRangeException(nameof(plannedWaypointCount), "Planned waypoint count must be greater than or equal to the original waypoint count.");
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}
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ArgumentNullException.ThrowIfNull(shotEvents);
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ArgumentNullException.ThrowIfNull(triggerTimeline);
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ArgumentNullException.ThrowIfNull(artifacts);
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// Materialize once so the result remains stable after the planner hands it off.
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var copiedShotEvents = shotEvents.ToArray();
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var copiedTriggerTimeline = triggerTimeline.ToArray();
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var copiedArtifacts = artifacts.ToArray();
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ProgramName = programName;
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Method = method;
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IsValid = isValid;
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Duration = duration;
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ShotEvents = copiedShotEvents;
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TriggerTimeline = copiedTriggerTimeline;
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Artifacts = copiedArtifacts;
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FailureReason = failureReason;
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UsedCache = usedCache;
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OriginalWaypointCount = originalWaypointCount;
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PlannedWaypointCount = plannedWaypointCount;
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}
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/// <summary>
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/// Gets the source program name.
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/// </summary>
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[JsonPropertyName("programName")]
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public string ProgramName { get; }
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/// <summary>
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/// Gets the method that produced the result.
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/// </summary>
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[JsonPropertyName("method")]
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public PlanningMethod Method { get; }
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/// <summary>
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/// Gets a value indicating whether the result can be executed.
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/// </summary>
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[JsonPropertyName("isValid")]
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public bool IsValid { get; }
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/// <summary>
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/// Gets the final trajectory duration.
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/// </summary>
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[JsonPropertyName("duration")]
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public TimeSpan Duration { get; }
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/// <summary>
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/// Gets the sampled shot events exported for monitoring and reports.
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/// </summary>
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[JsonPropertyName("shotEvents")]
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public IReadOnlyList<ShotEvent> ShotEvents { get; }
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/// <summary>
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/// Gets the trigger timeline that the runtime will inject into servo execution.
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/// </summary>
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[JsonPropertyName("triggerTimeline")]
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public IReadOnlyList<TrajectoryDoEvent> TriggerTimeline { get; }
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/// <summary>
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/// Gets the exported trajectory artifacts associated with the result.
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/// </summary>
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[JsonPropertyName("artifacts")]
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public IReadOnlyList<TrajectoryArtifact> Artifacts { get; }
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/// <summary>
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/// Gets the failure reason when the result is invalid.
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/// </summary>
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[JsonPropertyName("failureReason")]
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public string? FailureReason { get; }
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/// <summary>
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/// Gets a value indicating whether the result reused cached planning data.
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/// </summary>
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[JsonPropertyName("usedCache")]
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public bool UsedCache { get; }
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/// <summary>
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/// Gets the teach waypoint count before adaptive point insertion.
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/// </summary>
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[JsonPropertyName("originalWaypointCount")]
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public int OriginalWaypointCount { get; }
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/// <summary>
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/// Gets the final waypoint count after planner preprocessing.
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/// </summary>
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[JsonPropertyName("plannedWaypointCount")]
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public int PlannedWaypointCount { get; }
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}
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/// <summary>
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/// Describes a trigger event that the runtime must inject into the servo timeline.
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/// </summary>
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public sealed class TrajectoryDoEvent
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{
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/// <summary>
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/// Initializes a validated runtime trigger event.
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/// </summary>
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public TrajectoryDoEvent(int waypointIndex, double triggerTime, int offsetCycles, int holdCycles, IoAddressGroup addressGroup)
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{
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if (waypointIndex < 0)
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{
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throw new ArgumentOutOfRangeException(nameof(waypointIndex), "Waypoint index must be zero or positive.");
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}
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if (triggerTime < 0.0)
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{
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throw new ArgumentOutOfRangeException(nameof(triggerTime), "Trigger time must be zero or positive.");
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}
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if (holdCycles < 0)
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{
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throw new ArgumentOutOfRangeException(nameof(holdCycles), "Hold cycles must be zero or positive.");
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}
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WaypointIndex = waypointIndex;
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TriggerTime = triggerTime;
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OffsetCycles = offsetCycles;
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HoldCycles = holdCycles;
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AddressGroup = addressGroup ?? throw new ArgumentNullException(nameof(addressGroup));
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}
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/// <summary>
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/// Gets the original teach-waypoint index that requested the event.
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/// </summary>
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[JsonPropertyName("waypointIndex")]
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public int WaypointIndex { get; }
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/// <summary>
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/// Gets the theoretical trigger time before discretization.
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/// </summary>
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[JsonPropertyName("triggerTime")]
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public double TriggerTime { get; }
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/// <summary>
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/// Gets the configured offset in servo cycles.
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/// </summary>
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[JsonPropertyName("offsetCycles")]
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public int OffsetCycles { get; }
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/// <summary>
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/// Gets the configured hold duration in servo cycles.
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/// </summary>
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[JsonPropertyName("holdCycles")]
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public int HoldCycles { get; }
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/// <summary>
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/// Gets the IO address group to fire.
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/// </summary>
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[JsonPropertyName("addressGroup")]
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public IoAddressGroup AddressGroup { get; }
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}
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/// <summary>
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/// Describes an exported artifact generated from a planned trajectory.
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/// </summary>
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public sealed class TrajectoryArtifact
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{
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/// <summary>
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/// Initializes a validated trajectory artifact descriptor.
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/// </summary>
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public TrajectoryArtifact(TrajectoryArtifactKind kind, string logicalName, string relativePath)
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{
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if (string.IsNullOrWhiteSpace(logicalName))
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{
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throw new ArgumentException("Logical artifact name is required.", nameof(logicalName));
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}
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if (string.IsNullOrWhiteSpace(relativePath))
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{
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throw new ArgumentException("Relative artifact path is required.", nameof(relativePath));
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}
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Kind = kind;
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LogicalName = logicalName;
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RelativePath = relativePath;
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}
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/// <summary>
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/// Gets the exported artifact kind.
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/// </summary>
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[JsonPropertyName("kind")]
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public TrajectoryArtifactKind Kind { get; }
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/// <summary>
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/// Gets the logical artifact file name.
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/// </summary>
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[JsonPropertyName("logicalName")]
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public string LogicalName { get; }
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/// <summary>
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/// Gets the artifact path relative to the service output root.
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/// </summary>
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[JsonPropertyName("relativePath")]
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public string RelativePath { get; }
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}
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/// <summary>
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/// Identifies the exported trajectory artifact category.
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/// </summary>
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[JsonConverter(typeof(JsonStringEnumConverter))]
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public enum TrajectoryArtifactKind
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{
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/// <summary>
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/// Represents sparse joint teach points.
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/// </summary>
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JointTeachTrajectory,
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/// <summary>
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/// Represents sparse Cartesian teach points.
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/// </summary>
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CartesianTeachTrajectory,
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/// <summary>
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/// Represents dense joint trajectory samples.
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/// </summary>
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JointDenseTrajectory,
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/// <summary>
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/// Represents dense Cartesian trajectory samples.
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/// </summary>
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CartesianDenseTrajectory,
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/// <summary>
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/// Represents the exported shot-event mapping.
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/// </summary>
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ShotEventTimeline
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}
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