✨ feat(planning): 添加离线飞拍规划能力
* 固化离线飞拍轨迹加载、保存和规划结果。 * 真机初始化失败时保留模型加载后的离线规划能力。 * 更新状态接口、调试页和回归测试覆盖。
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@@ -28,6 +28,58 @@
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<dd id="meta-status">初始化中...</dd>
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</dl>
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</section>
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<section class="offline-panel" id="offline-planning-panel">
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<h2>离线飞拍规划</h2>
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<p class="offline-warning">生成轨迹不会向机器人发送命令；只有 RealReady 状态才能执行真实运动。</p>
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<div class="offline-grid">
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<label>
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机器人模型
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<input id="offline-robot-name" value="FANUC_LR_Mate_200iD">
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</label>
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<button id="offline-load-model" type="button">加载模型</button>
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<label>
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已上传轨迹
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<select id="offline-trajectory-select"></select>
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</label>
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<button id="offline-refresh-trajectories" type="button" class="secondary">刷新列表</button>
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<label>
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规划方法
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<select id="offline-planning-method">
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<option value="icsp">icsp</option>
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<option value="self-adapt-icsp">self-adapt-icsp</option>
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</select>
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</label>
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<button id="offline-generate" type="button">生成最终发送轨迹</button>
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</div>
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<details>
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<summary>上传飞拍轨迹 JSON</summary>
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<textarea id="offline-upload-json" class="body-editor">{
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"name": "demo-flyshot",
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"waypoints": [[0,0,0,0,0,0],[0.001,0,0,0,0,0],[0.002,0,0,0,0,0],[0.003,0,0,0,0,0]],
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"shot_flags": [false,true,false,false],
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"offset_values": [0,1,0,0],
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"addrs": [[],[7,8],[],[]]
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}</textarea>
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<button id="offline-upload" type="button">上传并刷新列表</button>
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</details>
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<div id="offline-planning-status" class="empty-hint">等待离线规划操作。</div>
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<div id="offline-planning-summary"></div>
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<div class="offline-table-wrap">
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<table id="offline-send-table">
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<thead>
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<tr><th>序号</th><th>发送时间</th><th>轨迹时间</th><th>关节角(deg)</th><th>IO Mask</th><th>IO Value</th></tr>
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</thead>
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<tbody></tbody>
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</table>
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</div>
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<div class="button-row">
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<button id="offline-prev-page" type="button" class="secondary">上一页</button>
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<span id="offline-page-info">0 / 0</span>
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<button id="offline-next-page" type="button" class="secondary">下一页</button>
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</div>
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<pre id="offline-shot-events" class="response-body"></pre>
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<pre id="offline-artifact-paths" class="response-body"></pre>
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</section>
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<div id="debug-console-app">
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<div class="empty-hint">正在加载接口列表...</div>
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</div>
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@@ -41,11 +93,6 @@
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</aside>
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<script id="debug-static-docs" type="application/json">
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{
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"GET /": {
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"summary": "根路径探活",
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"description": "返回旧 HTTP 服务约定的 Hello World 响应，用来确认兼容层宿主已启动。",
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"requestBodyFields": []
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},
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"GET /healthz": {
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"summary": "宿主健康检查",
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"description": "返回 replacement 宿主的基础健康状态，适合探活和部署验收。",
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@@ -66,39 +113,9 @@
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"description": "返回当前 ControllerClient 兼容层和 FANUC 运行时的聚合状态快照，供状态页和外部诊断读取。",
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"requestBodyFields": []
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},
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"POST /connect_server/": {
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"summary": "记录旧客户端目标服务",
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"description": "兼容旧 `connect_server` 调用形状；在 replacement 宿主中只记录调用方期望连接的服务端地址，不会再启动旧 TCP+JSON 网关。",
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"requestBodyFields": []
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},
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"GET /get_server_version/": {
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"summary": "读取服务端版本",
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"description": "返回当前 replacement 宿主暴露给旧客户端语义的服务端版本号。",
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"requestBodyFields": []
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},
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"GET /get_client_version/": {
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"summary": "读取客户端版本",
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"description": "返回兼容层对外声明的客户端版本号，便于旧链路做版本诊断。",
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"requestBodyFields": []
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},
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"POST /setup_robot/": {
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"summary": "按名称加载机器人",
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"description": "根据机器人名称加载对应模型和运行配置，为后续连接、使能和执行做准备。",
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"requestBodyFields": []
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},
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"POST /setup_robot_from_env/": {
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"summary": "按环境文件加载机器人",
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"description": "兼容旧 `env_file` 入口，根据环境文件路径完成机器人初始化配置加载。",
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"requestBodyFields": []
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},
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"POST /set_show_tcp/": {
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"summary": "设置 TCP 显示开关",
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"description": "兼容旧可视化参数接口，记录是否显示 TCP 坐标轴及其尺寸参数。",
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"requestBodyFields": []
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},
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"GET /is_setup/": {
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"summary": "查询是否已初始化",
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"description": "返回当前兼容层是否已经完成 `SetUpRobot` 初始化。",
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"description": "只加载机器人模型和 RobotConfig.json，不连接、不使能；成功后可进行离线规划。",
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"requestBodyFields": []
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},
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"GET /enable_robot/": {
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@@ -116,11 +133,6 @@
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"description": "触发兼容层的 `StopMove` 语义，用于终止当前点动或轨迹执行。",
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"requestBodyFields": []
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},
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"POST /set_active_controller/": {
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"summary": "切换控制器模式",
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"description": "通过查询参数 `sim` 指定当前使用仿真控制器还是真机控制器。",
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"requestBodyFields": []
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},
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"POST /connect_robot/": {
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"summary": "连接机器人控制器",
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"description": "根据查询参数 `ip` 连接机器人控制器，建立后续命令与状态链路。",
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@@ -232,8 +244,8 @@
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]
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},
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"POST /save_traj_info/": {
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"summary": "导出轨迹文件",
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"description": "为指定飞拍轨迹生成并导出 `SaveTrajInfo` 兼容文件集合；底层未实现时会返回 501。",
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"summary": "离线生成最终发送轨迹",
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"description": "仅要求机器人模型已加载；完成规划、触发绑定、最终 8ms 序列生成和文件导出，并返回完整规划结果。",
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"requestBodyFields": [
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{ "name": "name", "type": "string", "required": true, "description": "目标飞拍轨迹名称。" },
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{ "name": "method", "type": "string", "required": false, "description": "轨迹规划方法，默认 `icsp`。" }
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@@ -262,15 +274,12 @@
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{ "name": "name", "type": "string", "required": true, "description": "要删除的飞拍轨迹名称。" }
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]
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},
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"POST /init_mpc_robt": {
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"summary": "一键初始化旧链路",
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"description": "兼容旧 `init_mpc_robt` 入口，按历史拼写保留。会串联执行 `SetUpRobot -> SetActiveController -> Connect -> EnableRobot`。",
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"POST /init_mpc_robot": {
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"summary": "真机优先初始化",
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"description": "执行 `加载模型 -> 连接真机 -> EnableRobot(8)`；连接失败时模型仍保持 OfflineReady。",
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"requestBodyFields": [
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{ "name": "server_ip", "type": "string", "required": true, "description": "旧客户端记录的目标服务端 IP，仅保留兼容语义。" },
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{ "name": "port", "type": "integer", "required": true, "description": "旧客户端记录的目标服务端端口。" },
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{ "name": "robot_name", "type": "string", "required": true, "description": "机器人名称，用于加载模型与配置。" },
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{ "name": "robot_ip", "type": "string", "required": true, "description": "机器人控制器 IP。" },
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{ "name": "sim", "type": "boolean", "required": false, "description": "是否连接仿真控制器；默认 `false` 表示真机。" }
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{ "name": "robot_ip", "type": "string", "required": true, "description": "机器人控制器 IP。" }
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]
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},
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"GET /get_pose": {
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