✨ 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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207
tests/Flyshot.Core.Tests/DomainModelTests.cs
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207
tests/Flyshot.Core.Tests/DomainModelTests.cs
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using System.Text.Json;
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using Flyshot.Core.Domain;
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namespace Flyshot.Core.Tests;
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/// <summary>
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/// Verifies the Task 2 domain contracts before planning and runtime code depend on them.
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/// </summary>
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public sealed class DomainModelTests
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{
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/// <summary>
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/// Ensures robot profiles keep a stable copy of joint limits and reject invalid dimensions.
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/// </summary>
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[Fact]
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public void RobotProfile_CopiesJointLimits_AndRejectsMismatchedDof()
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{
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var jointLimits = new[]
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{
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new JointLimit("J1", 7.85, 32.72, 272.7),
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new JointLimit("J2", 6.63, 27.63, 230.28)
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};
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var profile = new RobotProfile(
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name: "LR_Mate_200iD_7L",
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modelPath: "Models/LR_Mate_200iD_7L.robot",
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degreesOfFreedom: 2,
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jointLimits: jointLimits,
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jointCouplings: Array.Empty<JointCoupling>(),
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servoPeriod: TimeSpan.FromMilliseconds(8),
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triggerPeriod: TimeSpan.FromMilliseconds(8));
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Assert.Equal(2, profile.DegreesOfFreedom);
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Assert.NotSame(jointLimits, profile.JointLimits);
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// The planner must not accept a profile whose DOF and limits disagree.
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Assert.Throws<ArgumentException>(() => new RobotProfile(
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name: "InvalidRobot",
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modelPath: "Models/Invalid.robot",
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degreesOfFreedom: 3,
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jointLimits: jointLimits,
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jointCouplings: Array.Empty<JointCoupling>(),
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servoPeriod: TimeSpan.FromMilliseconds(8),
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triggerPeriod: TimeSpan.FromMilliseconds(8)));
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}
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/// <summary>
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/// Ensures uploaded flyshot programs keep their shot metadata aligned with teach waypoints.
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/// </summary>
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[Fact]
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public void FlyshotProgram_RejectsMisalignedShotMetadata()
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{
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var waypoints = new[]
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{
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new JointWaypoint(new[] { 0.0, 1.0 }),
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new JointWaypoint(new[] { 2.0, 3.0 })
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};
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var validProgram = new FlyshotProgram(
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name: "EOL10_EAU_0",
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waypoints: waypoints,
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shotFlags: new[] { true, false },
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offsetValues: new[] { 0, 1 },
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addressGroups: new[]
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{
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new IoAddressGroup(new[] { 100 }),
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new IoAddressGroup(Array.Empty<int>())
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});
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Assert.Equal(1, validProgram.ShotWaypointCount);
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// The gateway cannot recover from count mismatches after this point, so fail fast here.
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Assert.Throws<ArgumentException>(() => new FlyshotProgram(
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name: "BrokenProgram",
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waypoints: waypoints,
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shotFlags: new[] { true },
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offsetValues: new[] { 0, 1 },
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addressGroups: new[]
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{
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new IoAddressGroup(new[] { 100 }),
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new IoAddressGroup(Array.Empty<int>())
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}));
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}
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/// <summary>
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/// Ensures execution requests start from predictable defaults for compatibility paths.
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/// </summary>
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[Fact]
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public void TrajectoryRequest_UsesExpectedDefaults()
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{
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var request = new TrajectoryRequest(
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robot: CreateRobotProfile(),
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program: CreateProgram(),
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method: PlanningMethod.Icsp);
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Assert.False(request.MoveToStart);
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Assert.False(request.SaveTrajectoryArtifacts);
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Assert.False(request.UseCache);
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Assert.Equal(PlanningMethod.Icsp, request.Method);
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}
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/// <summary>
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/// Ensures runtime snapshots expose safe empty collections before the controller connects.
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/// </summary>
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[Fact]
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public void ControllerStateSnapshot_InitializesEmptyRuntimeCollections()
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{
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var snapshot = new ControllerStateSnapshot(
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capturedAt: DateTimeOffset.Parse("2026-04-23T10:00:00+08:00"),
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connectionState: "Disconnected",
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isEnabled: false,
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isInMotion: false,
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speedRatio: 100.0);
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Assert.Empty(snapshot.JointPositions);
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Assert.Empty(snapshot.CartesianPose);
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Assert.Empty(snapshot.ActiveAlarms);
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}
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/// <summary>
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/// Ensures JSON payloads keep stable enum and property names for downstream SDKs.
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/// </summary>
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[Fact]
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public void DomainObjects_SerializeStableContract()
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{
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var result = new TrajectoryResult(
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programName: "EOL10_EAU_0",
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method: PlanningMethod.SelfAdaptIcsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(1.25),
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shotEvents: new[]
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{
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new ShotEvent(
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waypointIndex: 0,
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triggerTime: 0.5,
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sampleIndex: 62,
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sampleTime: 0.496,
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addressGroup: new IoAddressGroup(new[] { 100 }))
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},
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triggerTimeline: new[]
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{
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new TrajectoryDoEvent(
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waypointIndex: 0,
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triggerTime: 0.5,
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offsetCycles: 0,
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holdCycles: 1,
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addressGroup: new IoAddressGroup(new[] { 100 }))
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},
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artifacts: new[]
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{
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new TrajectoryArtifact(
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kind: TrajectoryArtifactKind.JointDenseTrajectory,
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logicalName: "JointDetialTraj.txt",
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relativePath: "artifacts/JointDetialTraj.txt")
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},
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failureReason: null,
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usedCache: true,
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originalWaypointCount: 4,
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plannedWaypointCount: 5);
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var json = JsonSerializer.Serialize(result);
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Assert.Contains("\"programName\":\"EOL10_EAU_0\"", json);
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Assert.Contains("\"method\":\"SelfAdaptIcsp\"", json);
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Assert.Contains("\"kind\":\"JointDenseTrajectory\"", json);
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Assert.Contains("\"usedCache\":true", json);
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}
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/// <summary>
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/// Creates a representative robot profile for request-level domain tests.
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/// </summary>
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private static RobotProfile CreateRobotProfile()
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{
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return new RobotProfile(
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name: "LR_Mate_200iD_7L",
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modelPath: "Models/LR_Mate_200iD_7L.robot",
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degreesOfFreedom: 2,
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jointLimits: new[]
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{
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new JointLimit("J1", 7.85, 32.72, 272.7),
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new JointLimit("J2", 6.63, 27.63, 230.28)
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},
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jointCouplings: Array.Empty<JointCoupling>(),
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servoPeriod: TimeSpan.FromMilliseconds(8),
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triggerPeriod: TimeSpan.FromMilliseconds(8));
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}
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/// <summary>
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/// Creates a representative uploaded program for request-level domain tests.
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/// </summary>
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private static FlyshotProgram CreateProgram()
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{
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return new FlyshotProgram(
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name: "EOL10_EAU_0",
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waypoints: new[]
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{
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new JointWaypoint(new[] { 0.0, 1.0 }),
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new JointWaypoint(new[] { 2.0, 3.0 })
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},
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shotFlags: new[] { true, false },
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offsetValues: new[] { 0, 1 },
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addressGroups: new[]
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{
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new IoAddressGroup(new[] { 100 }),
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new IoAddressGroup(Array.Empty<int>())
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});
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}
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}
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